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2016-03-10 01:48:41 -0600	received badge	● Enthusiast
2016-03-08 05:38:04 -0600	commented answer	camera pose from solvePnPRansac using 3d-2d motion estimation in monocular visual odometry so,the final formulas are R_f=RvecR_f and tvec=-R_f tvec ? Then ,the camera position is tvec(x,y,z)?
2016-03-03 18:52:14 -0600	commented answer	camera pose from solvePnPRansac using 3d-2d motion estimation in monocular visual odometry Thank you very much for your detailed reply.You are right,it is the motion from frame to frame.I have a question,how to chain rotation matrices to get the direction? t = (-R * tvec)+R * t?
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2016-03-03 03:02:12 -0600	commented question	Feature matching 2d to 3d points. hello,I have a question.in step 5 Pose estimation using PnP + Ransac ,it just get rvec and tvec through solvePnPRansac , how can I compute camera position?According my understand,camera position just have x,y and z.
2016-03-03 02:43:17 -0600	commented answer	Feature matching 2d to 3d points. I got rvec and tvec form solvePnPRansac ,hou can I compute camera position,and draw its trajectory.
2016-03-03 02:26:14 -0600	asked a question	camera pose from solvePnPRansac using 3d-2d motion estimation in monocular visual odometry In paper Visual Odometry Part I,it said that we can get camera pose using 3d-2d motion estimation for the monocular case(It needs three images). So, I got Rvec and tvec from function solvePnPRansac using 3d-2d motion estimation. The question is how can I get camera position and draw its trajectory from Rvec and tvec. The following two formulas are right? 1.Rcur=Rvec * Rcur 2.tcur=tcur+scale(Rcur tvec) Beacuase I find Avi Singh use them in 2d-2d motion estimation. Is there any paper about monocular visual odometry using 3d-2d motion estimation to recommend.