A Framework for 2D Model-Based Pose Estimation

This paper introduces the concept of the tangent-image plane for solving 2D model based pose estimation, which allows 2D model based pose estimation from coplanar features to be handled in a unified way. The tangent-image is defined as the tangent plane of a unit sphere and the plane for imaging, and thus 2D model based pose estimation is reduced to finding the tangent-image plane that parallels to the model plane of coplanar features. The solution can be obtained by affine iteration. A new Perspective-n-Point (PnP) algorithm from coplanar points is derived based on the concept of the tangent-image plane. Simulations are carried out to verify the effectiveness of the proposed algorithm.