Efficient closed-form approaches for pose estimation using Sylvester forms

TL;DR

This paper introduces a new class of Sylvester form-based closed-form solvers for pose estimation that significantly reduce computation time while maintaining accuracy.

Contribution

The authors develop a novel Sylvester form-based solver that improves computational efficiency in pose estimation problems without sacrificing accuracy.

Findings

Proposed methods are as accurate as state-of-the-art solvers.

Our approach outperforms existing methods in computational time.

Applicable to both 3D-3D and 3D-2D pose estimation problems.

Abstract

Solving non-linear least-squares problem for pose estimation (rotation and translation) is often a time consuming yet fundamental problem in several real-time computer vision applications. With an adequate rotation parametrization, the optimization problem can be reduced to the solution of a~system of polynomial equations and solved in closed form. Recent advances in efficient closed form solvers utilizing resultant matrices have shown a promising research direction to decrease the computation time while preserving the estimation accuracy. In this paper, we propose a new class of resultant-based solvers that exploit Sylvester forms to further reduce the complexity of the resolution. We demonstrate that our proposed methods are numerically as accurate as the state-of-the-art solvers, and outperform them in terms of computational time. We show that this approach can be applied for pose estimation in two different types of problems: estimating a pose from 3D to 3D correspondences, and estimating a pose from 3D points to 2D points correspondences.