Iterative Algorithm for Optimal Fiducials under Weak Perspective Projection
01 January 2009
In previous work we designed space fiducials with the aim of making camera pose determination as noise-insensitive as possible. These fiducials turned out to be sets of points that formed concentric regular polyhedra. Here we apply an idea of Dementhon and Davis and test and analyze an iterative linear algorithm in conjunction with our optimal fiducials to increase the accuracy of the computed camera pose. We also determine under what circumstances this iterative algorithm is guaranteed to converge to the correct solution. Comprehensive computer simulations illustrate the behavior of the algorithm and the degree of improvement in pose determination in case of convergence.