Abstract
In this paper, an iterative procedure is proposed to estimate the attitude of objects in photographs via matching images rendered from three-dimensional (3D) models, which have six degrees of freedom (6-DOF) motions such as ships on sea surface. The perspective projection matrix from 3D to two-dimensional (2D) coordinates is obtained using the principle of camera imaging process in computer graphics. Seven parameters are first coarsely estimated using the least square method, including the field of view (FOV) of camera and the 6-DOF attitude of an object. An iteration process is then implemented to refine the attitude estimates within specified ranges. The 6-DOF attitude of an oil tanker in photographs is estimated as examples. And the perfect results demonstrate the usefulness of the proposed procedure.
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