I am implementing a PnP camera pose estimation. It gives me back coordinates, but on each frame, they jump around a LOT. I believe that this is because the features I use are re-ordering/shifting.
So I have added feature matching between consecutive frames, but I feel like I am missing something.
My workflow:
Store previousFrame. Get currentFrame.
Run feature matching.
Use 2d features of previousFrame to get 3d features, and run PnP.
copy currentFrame to previousFrame and loop again.
I see a similar result, with the coordinates jumping crazily each frame. Is this the right workflow for feature matching? What can I do to improve the stability of my coordinates?
Thanks!