Relative Pose Estimation

Recent Progress and New Methods

相对位姿估计的进展和新方法
深蓝学院公开课，赵季老师

1. Pose Estimation Categorization

Pose from 3D - 3D (for point clouds)

• point cloud registration
• ICP, NDT, LOAM, ..

Pose from 3D - 2D (for image and map)

• absolute pose estimation
• P3P, perspective-n-point (PnP), ..

Pose from 2D - 2D (for image with overlap)

• relati