Study on Camera Pose Estimation

A common need in photogrammetry, robotics and computer vision is performing camera pose estimation. A comparative analysis is presented here for three classical and representative algorithms, including direct linear transform (DLT), EPNP and Cayley method, each of which computes the translation and rotation matrix using non-iterative method with six or more point correspondences. The comparison shows qualitative and quantitative experimental results to determine (1) the accuracy and robustness under the influence of different levels of noise, (2) the accuracy, robustness and efficiency for different sizes of point correspondences.