1. Nearly Analytical Pose Estimation
John McInroy
University of Wyoming
A nearly analytical, two step process for pose estimation from a single camera is developed.
Step 1: Solution of a least squares matrix problem, followed by projection onto the nearest scaled subunitary matrix.
Step 2: Solution of a least squares vector problem, followed by projection onto SO(3)
For the same level of accuracy, only 1.27 iterations are required, vs for a popular method
The method is tested on simulated images of a satellite.