How do I estimate camera pose from two sets of features in openCV?

asked 2015-07-30 17:05:19 -0500

mew gravatar image

I have a sequence of images. I would like to estimate the camera pose for each frame in my sequence.

I have calculated features in each frame, and tracked them through the sequence. I would now like to estimate the camera pose for each frame. I do so using the following openCV routines:

Mat essentialMatrix = findEssentialMat(pointsA, pointsB, f, pp, RANSAC, 0.999, 1.0, mask); recoverPose(essentialMatrix, pointsA, pointsB, R, T, focalLength, principlePoint); Where pointsA and pointsB are comprised of 2D coordinates of features that are present in both frames. pointsA is associated with the frame before pointsB.

The problem I am encountering is that the R and T estimations are very noisy, to the point where I believe something is wrong with my pose estimation.

My question is, how do I estimate the camera pose from two sets of features?

Note: I am familiar with this answered question. However, I believe openCV3 now includes methods that address this problem more eloquently.

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