Disturbance-rejecting method for cooperative object pose estimation from binocular images

A disturbance-rejecting method for measuring a cooperative object's pose from binocular images is presented. The presented method optimizes the parameters of the object's pose and modifies some measure system parameters simultaneously by bundle adjustment based on initial values. Experiments data show that the method converges quickly and stably, gives accurate results and dos not demand accurate initial values. Especially, when the measure system parameters are disturbed, this method still gives accurate results.