A new 2-point absolute pose estimation algorithm under planar motion

Abstract

Several pose estimation algorithms, such as n-point and perspective n-point (PnP), have been introduced over the last few decades to solve the relative and absolute pose estimation problems in robotics research. Since the n-point algorithms cannot decide the real scale of robot motion, the PnP algorithms are often addressed to find the absolute scale of motion. This paper introduce a new PnP algorithm which use only two 3D–2D correspondences by considering only planar motion. Experiment results prove that the proposed algorithm solves the absolute motion in real scale with high accuracy and less computational time compared to previous algorithms. Graphical Abstract