PHD Thesis - Institute for Computer Graphics and Vision - Graz ...

7.2. Localization 123
(a)
(b)
(c)
(d)
(e)
Figure 7.6: Effect of added Gaussian noise to 2D points in pose estimation. The blue dot marks
the noise-free pose estimate. (a-c) σ = 0.1 (d) σ = 0.3 (e) σ = 0.7
available correspondences. In fact, the pose estimated from all correspondences is optimal with
respect to the point correspondences from within the landmark. However, we can evaluate the
solution by means of additional correspondences from outside our landmark. Let us assume a
set of 3D ↔ 2D point correspondences distributed over the whole image denoted Q ↔ q. A
pose estimate R, t can now be used to compute 2D coordinates ˆq with
ˆq = [R|t]Q. (7.21)