Optimal estimation of object pose from a single perspective view

The authors present a method for robustly and accurately estimating the rotation and translation between a camera and a 3-D object from point and line correspondences. First they devise an error function and then show how to minimize this error function. The quadratic nature of this function is made possible by representing rotation and translation with a dual number quaternion. A detailed account is provided of the computational aspects of a trust-region optimization method. This method compares favourably with Newton's method, which has extensively been used to solve the problem, and with Faugeras-Toscani's linear method (1986) for calibrating a camera. Some experimental results are presented which demonstrate the robustness of the method with respect to image noise and matching errors