In this post, i will remind the reader about the famous Gauss Newton optimization technique. We will see how Jacobian matrices are required to achieve such a kind of optimization and how it applies to our common computer vision problems.

# Category Archives: pose estimation

# [geom] Computing an homography between two views

This article describes how to construct a geometric transformation between two images representing two views of an object.

# [geom] Choosing an internal coordinate system

There are many ways to express affine transformations. In this post are discussed several possibilities and the choice I’m used to make when implementing an application that requires 3D transformations.

# [math] – The P3P (Perspective-Three-Point) Principle

As said and shown before, the P3P equations are not easy to solve. As an example, the solution provided in the opencv library does not compute fully satisfactory results. This article has the objective to summarize the best strategy to implement the P3P approach.

# Continue reading

# P3P (Perspective-Three-Point) discussions

Projective geometry is an important subject if you wish to create computer vision applications.

In this post, is presented a youtube™ video that aims to show the differences between the P3P (Perspective-Three-Point) principle such as implemented in opencv and my own implementation.

Continue reading

# Black and White Marker Detection

In this article, I’m trying to give technical clues on how to implement a simple marker detection engine similar to the technology provided in the well-known ARtoolkit software.