Robust pose estimation based on Sylvester’s equation: Single and multiple collaborative cameras

Abstract

A method is introduced to track the object's motion and estimate its pose from multiple cameras. Firstly pose estimation from one camera is explained. We show that pose estimation from the corresponding feature points can be formed as a solution to Sylvester's equation. Furthermore, we develop a distributed solution, which indicates that pose estimation from multiple cameras can be obtained from the linear combination of results from each single camera. We relay on the results from other cameras to improve the estimate of the first one, and vice versa. Finally, the computer simulation experiments demonstrate the superior performance of our algorithm in robustness.