Closed-form pose estimation from metric rectification of coplanar points

A new analytic method for estimating the pose of a calibrated camera from a single view of a planar target with a known geometry is presented. A set of fiducial points is extracted from an image of this target and metrically rectified through a 2D homography. The author´s contribution consists in deriving from the coefficients of this transformation the analytic expressions of the 3D rigid motion parameters defining the pose of the camera. Experiments with synthetic data show the effectiveness of the proposed method against another gold-standard method for pose estimation and its robustness against perturbations of the fiducial points. These features make the algorithm a perfect candidate for all those applications where pose estimation has to be performed reliably and in real time.