Camera Pose Estimation Suitable for Smart Cameras

International audienceCamera pose estimation across video sequences is an important issue under several computer vision applications. In previous work, the most popular approach consists on optimization techniques applied over 2D/3D point correspondences for two consecutive frames from a video sequence. Unfortunately, these optimization techniques are iterative and depend on nonlinear optimizations applied over some geometric constraint. For real-time embedded applications, another approach, more efficient in terms of computational size and cost, could be a linear or closed-form solution for the camera pose estimation problem. In this work, we introduce a new approach for camera pose estimation, this approach uses 2D visual features displacements as linear/dependent parameters for the camera pose estimation so, camera pose can be estimated without iterative behavior and without geometric constraints. As result, the proposed algorithm could be implemented inside a small FPGA device, suitable for smart cameras. Preliminary results are encourageous and show the viability of the proposed approach