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.