Pose Estimation Based on Four Coplanar Point Correspondences

In this paper we present a pose estimation algorithm based on four coplanar point correspondences. Given four coplanar points and their corresponding image points under a perspective camera, plus the camera’s intrinsic matrix, the camera’s rotation and translation relative to the object plane is determined directly. In essence, the pose estimation problem is converted to the calculation of a planar homography between the object plane and the image plane. Experiments with both synthetic data and real images verify the correctness of this algorithm.