ErrorCheck: A new method for controlling the accuracy of pose estimates

In this paper, we present ErrorCheck, which is a new method for controlling the accuracy of a computer vision based pose refinement method. ErrorCheck consists of two parts: a method for validating the robustness of a pose refinement method towards false correspondences and a method for controlling the accuracy of a validated pose refinement method. ErrorCheck uses a theoretical estimate of the pose error covariance both for validating robustness and controlling the accuracy. We illustrate the first usage of ErrorCheck by applying it to state-of-the-art methods for pose refinement and some variations of these methods that turn out to be necessary to introduce.