Convex relaxations of SE(2) and SE(3) for visual pose estimation
Convex relaxations of SE(2) and SE(3) for visual pose estimation
This paper proposes a new method for rigid body pose estimation based on spectrahedral representations of the tautological orbitopes of SE(2) and SE(3). The approach can use dense point cloud data from stereo vision or an RGB-D sensor (such as the Microsoft Kinect), as well as visual appearance data as …