PoseLab: A Levenberg-Marquardt Based Prototyping Environment for Camera Pose Estimation

Abstract

A pose identifies the 3D position and 3D rotation of an object with respect to a reference coordinate system. Cameras can be used to determine the pose of objects in a scene. Fiducial markers on a object make it easier to segment the object. For applications where either high-accuracy, high speed and/or very low latency are required, dedicated hardware architectures are needed as regular processors are not performant enough. The dedicated hardware needs to be designed such that the constraints are taken into account in order to meet the requirements. A software prototyping environment PoseLab is presented which can be used to evaluate the effects of various design trade-offs.