A Newton method for pose refinement of 3D models

Arthur Pece and Anthony Worrall

Department of Computer Science

The University of Reading

email: A.E.C.Pece@reading.ac.uk


Different optimization methods can be employed to optimize a numerical estimate for the match between an instantiated object model and an image. In order to take advantage of gradient-based optimization methods, perspective inversion must be used in this context. We show that convergence can be very fast by extrapolating to maximum goodness-of-fit with Newton's method. This approach is related to methods which either maximize a similar goodness-of-fit measure without use of gradient information, or else minimize distances between projected model lines and image features. Newton's method combines the accuracy of the former approach with the speed of convergence of the latter.

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Last Modified: 05:08pm GMT, December 22, 1999