Estimation of the position of a rigid body with a single camera

The authors consider a method to estimate the position of a rigid body with image data from a single camera. The rigid body is represented by several representative points of itself. For example, several vertices of the rigid body are used for representative points. It is assumed that the relative position of the representative point is invariant under any movement. Consequently, the estimated variables are the distances of the representative point from the camera.<
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