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Pose Estimation for Augmented Reality: A Hands-On Survey

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Academic year: 2021

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Figure

Fig. 1. AR Principle and considered coordinate systems: to achieve a coherent compositiong, computer graphics (CG) camera and real one should be located at the very same position and have the same parameters.
Fig. 2. Rigid transformation c T w between world frame F w and camera frame F c and perspective projection
Fig. 3. Iterative minimization of the pose: overview of the non-linear least squares problem (here in 1D).
Fig. 4. Pose estimation using planar version of POSIT [93] followed by a non- non-linear estimation process [78] to improve the registration.
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