October  2005, 1(4): 565-587. doi: 10.3934/jimo.2005.1.565

Gauss-Newton-on-manifold for pose estimation


National ICT Australia Ltd., Australia, Australian National University, Australia, Australia

Received  May 2005 Revised  August 2005 Published  October 2005

We consider the task of estimating the relative pose (position and orientation) between a 3D object and its projection on a 2D image plane from a set of point correspondences. Our approach is to formulate the task as an unconstrained optimization problem on the intersection of the special orthogonal group and a cone, and exploit as much as possible the geometry of the underlying parameter space. The optimization does not require Riemannian geometry. It involves successive parameterization of the constraint manifold and is based on Newton-type iterations in local parameter space. A direct proof of local quadratical convergence to the optimum is provided. A key feature of the proposed approach, not used in earlier studies, is an analytic geodesic search, alternating between gradient, Gauss, Newton and random directions, which ensures the escape from local minima and convergence to a global minimum without the need to reinitialize the algorithm. Indeed, for a prescribed number of iterations, the proposed algorithm achieves significantly lower pose estimation errors than earlier methods and it converges to a global minimum in typically 5--10 iterations.
Citation: Pei Yean Lee, John B Moore. Gauss-Newton-on-manifold for pose estimation. Journal of Industrial & Management Optimization, 2005, 1 (4) : 565-587. doi: 10.3934/jimo.2005.1.565

Hong Seng Sim, Wah June Leong, Chuei Yee Chen, Siti Nur Iqmal Ibrahim. Multi-step spectral gradient methods with modified weak secant relation for large scale unconstrained optimization. Numerical Algebra, Control & Optimization, 2018, 8 (3) : 377-387. doi: 10.3934/naco.2018024


Abdulrazzaq T. Abed, Azzam S. Y. Aladool. Applying particle swarm optimization based on Padé approximant to solve ordinary differential equation. Numerical Algebra, Control & Optimization, 2021  doi: 10.3934/naco.2021008


Zhiming Guo, Zhi-Chun Yang, Xingfu Zou. Existence and uniqueness of positive solution to a non-local differential equation with homogeneous Dirichlet boundary condition---A non-monotone case. Communications on Pure & Applied Analysis, 2012, 11 (5) : 1825-1838. doi: 10.3934/cpaa.2012.11.1825


Z. Reichstein and B. Youssin. Parusinski's "Key Lemma" via algebraic geometry. Electronic Research Announcements, 1999, 5: 136-145.


Sandrine Anthoine, Jean-François Aujol, Yannick Boursier, Clothilde Mélot. Some proximal methods for Poisson intensity CBCT and PET. Inverse Problems & Imaging, 2012, 6 (4) : 565-598. doi: 10.3934/ipi.2012.6.565


M. Phani Sudheer, Ravi S. Nanjundiah, A. S. Vasudeva Murthy. Revisiting the slow manifold of the Lorenz-Krishnamurthy quintet. Discrete & Continuous Dynamical Systems - B, 2006, 6 (6) : 1403-1416. doi: 10.3934/dcdsb.2006.6.1403


Fritz Gesztesy, Helge Holden, Johanna Michor, Gerald Teschl. The algebro-geometric initial value problem for the Ablowitz-Ladik hierarchy. Discrete & Continuous Dynamical Systems - A, 2010, 26 (1) : 151-196. doi: 10.3934/dcds.2010.26.151


Jon Aaronson, Dalia Terhesiu. Local limit theorems for suspended semiflows. Discrete & Continuous Dynamical Systems - A, 2020, 40 (12) : 6575-6609. doi: 10.3934/dcds.2020294


Jonathan DeWitt. Local Lyapunov spectrum rigidity of nilmanifold automorphisms. Journal of Modern Dynamics, 2021, 17: 65-109. doi: 10.3934/jmd.2021003


Eduardo Casas, Christian Clason, Arnd Rösch. Preface special issue on system modeling and optimization. Mathematical Control & Related Fields, 2021  doi: 10.3934/mcrf.2021008


Min Li. A three term Polak-Ribière-Polyak conjugate gradient method close to the memoryless BFGS quasi-Newton method. Journal of Industrial & Management Optimization, 2020, 16 (1) : 245-260. doi: 10.3934/jimo.2018149


Marian Gidea, Rafael de la Llave, Tere M. Seara. A general mechanism of instability in Hamiltonian systems: Skipping along a normally hyperbolic invariant manifold. Discrete & Continuous Dynamical Systems - A, 2020, 40 (12) : 6795-6813. doi: 10.3934/dcds.2020166


Gheorghe Craciun, Abhishek Deshpande, Hyejin Jenny Yeon. Quasi-toric differential inclusions. Discrete & Continuous Dynamical Systems - B, 2021, 26 (5) : 2343-2359. doi: 10.3934/dcdsb.2020181


Seung-Yeal Ha, Shi Jin. Local sensitivity analysis for the Cucker-Smale model with random inputs. Kinetic & Related Models, 2018, 11 (4) : 859-889. doi: 10.3934/krm.2018034


Ardeshir Ahmadi, Hamed Davari-Ardakani. A multistage stochastic programming framework for cardinality constrained portfolio optimization. Numerical Algebra, Control & Optimization, 2017, 7 (3) : 359-377. doi: 10.3934/naco.2017023


Luke Finlay, Vladimir Gaitsgory, Ivan Lebedev. Linear programming solutions of periodic optimization problems: approximation of the optimal control. Journal of Industrial & Management Optimization, 2007, 3 (2) : 399-413. doi: 10.3934/jimo.2007.3.399


Thierry Cazenave, Ivan Naumkin. Local smooth solutions of the nonlinear Klein-gordon equation. Discrete & Continuous Dynamical Systems - S, 2021, 14 (5) : 1649-1672. doi: 10.3934/dcdss.2020448


Jaume Llibre, Luci Any Roberto. On the periodic solutions of a class of Duffing differential equations. Discrete & Continuous Dynamical Systems - A, 2013, 33 (1) : 277-282. doi: 10.3934/dcds.2013.33.277


Nizami A. Gasilov. Solving a system of linear differential equations with interval coefficients. Discrete & Continuous Dynamical Systems - B, 2021, 26 (5) : 2739-2747. doi: 10.3934/dcdsb.2020203


Mohsen Abdolhosseinzadeh, Mir Mohammad Alipour. Design of experiment for tuning parameters of an ant colony optimization method for the constrained shortest Hamiltonian path problem in the grid networks. Numerical Algebra, Control & Optimization, 2021, 11 (2) : 321-332. doi: 10.3934/naco.2020028

2019 Impact Factor: 1.366


  • PDF downloads (114)
  • HTML views (0)
  • Cited by (6)

Other articles
by authors

[Back to Top]