Robust 3D pose estimation from multiple video cameras

Abstract

In this paper, we introduce a method to estimate the object's pose from multiple video cameras. We derive a centralized solution to pose estimation from multiple video cameras by solving a general matrix equation. Moreover, we provide an equivalent distributed solution to the pose estimation problem based on the independent pose estimation obtained from each camera. We demonstrate that both methods generate superior estimates to the results obtained from any specific camera view. The resulting pose estimation technique is shown to be robust to occlusion and errors from specific camera views, and the computational complexity of the distributed solution grows linearly with the number of cameras. Furthermore, the proposed approach does not require feature matching among images from different camera views nor does it demand reconstruction of 3D points.