<s>
3D	B-General_Concept
pose	I-General_Concept
estimation	I-General_Concept
is	O
a	O
process	O
of	O
predicting	O
the	O
transformation	O
of	O
an	O
object	O
from	O
a	O
user-defined	O
reference	O
pose	O
,	O
given	O
an	O
image	O
or	O
a	O
3D	B-Algorithm
scan	I-Algorithm
.	O
</s>
<s>
It	O
arises	O
in	O
computer	B-Application
vision	I-Application
or	O
robotics	O
where	O
the	O
pose	O
or	O
transformation	O
of	O
an	O
object	O
can	O
be	O
used	O
for	O
alignment	O
of	O
a	O
computer-aided	B-Application
design	I-Application
models	O
,	O
identification	O
,	O
grasping	O
,	O
or	O
manipulation	O
of	O
the	O
object	O
.	O
</s>
<s>
The	O
image	O
data	O
from	O
which	O
the	O
pose	O
of	O
an	O
object	O
is	O
determined	O
can	O
be	O
either	O
a	O
single	O
image	O
,	O
a	O
stereo	B-Algorithm
image	I-Algorithm
pair	O
,	O
or	O
an	O
image	O
sequence	O
where	O
,	O
typically	O
,	O
the	O
camera	O
is	O
moving	O
with	O
a	O
known	O
velocity	O
.	O
</s>
<s>
It	O
is	O
possible	O
to	O
estimate	O
the	O
3D	O
rotation	O
and	O
translation	O
of	O
a	O
3D	O
object	O
from	O
a	O
single	O
2D	O
photo	O
,	O
if	O
an	O
approximate	O
3D	O
model	O
of	O
the	O
object	O
is	O
known	O
and	O
the	O
corresponding	B-Algorithm
points	I-Algorithm
in	O
the	O
2D	O
image	O
are	O
known	O
.	O
</s>
<s>
Another	O
approach	O
is	O
to	O
register	O
a	O
3D	O
CAD	B-Application
model	I-Application
over	O
the	O
photograph	O
of	O
a	O
known	O
object	O
by	O
optimizing	O
a	O
suitable	O
distance	O
measure	O
with	O
respect	O
to	O
the	O
pose	O
parameters	O
.	O
</s>
<s>
The	O
distance	O
measure	O
is	O
computed	O
between	O
the	O
object	O
in	O
the	O
photograph	O
and	O
the	O
3D	O
CAD	B-Application
model	I-Application
projection	O
at	O
a	O
given	O
pose	O
.	O
</s>
<s>
Perspective	B-Architecture
projection	I-Architecture
or	O
orthogonal	O
projection	O
is	O
possible	O
depending	O
on	O
the	O
pose	O
representation	O
used	O
.	O
</s>
<s>
This	O
approach	O
is	O
appropriate	O
for	O
applications	O
where	O
a	O
3D	O
CAD	B-Application
model	I-Application
of	O
a	O
known	O
object	O
(	O
or	O
object	O
category	O
)	O
is	O
available	O
.	O
</s>
<s>
The	O
algorithm	O
for	O
determining	O
pose	B-General_Concept
estimation	I-General_Concept
is	O
based	O
on	O
the	O
iterative	B-General_Concept
closest	I-General_Concept
point	I-General_Concept
algorithm	O
.	O
</s>
<s>
(	O
c	B-Language
)	O
For	O
each	O
3D	O
contour	O
:	O
</s>
<s>
,	O
a	O
GPL	B-License
C/C	O
++	O
library	O
for	O
6DoF	O
pose	B-General_Concept
estimation	I-General_Concept
from	O
3D-2D	O
correspondences	O
.	O
</s>
<s>
,	O
fast	O
Matlab	O
solver	O
for	O
6DoF	O
pose	B-General_Concept
estimation	I-General_Concept
from	O
only	O
two	O
3D-2D	O
correspondences	O
of	O
points	O
with	O
directions	O
(	O
vectors	O
)	O
,	O
or	O
points	O
at	O
curves	O
(	O
point-tangents	O
)	O
.	O
</s>
<s>
:	O
C++	B-Language
package	O
for	O
(	O
relative	O
)	O
pose	B-General_Concept
estimation	I-General_Concept
of	O
three	O
views	O
.	O
</s>
<s>
Includes	O
cases	O
of	O
three	O
corresponding	B-Algorithm
points	I-Algorithm
with	O
lines	O
at	O
these	O
points	O
(	O
as	O
in	O
feature	O
positions	O
and	O
orientations	O
,	O
or	O
curve	O
points	O
with	O
tangents	O
)	O
,	O
and	O
also	O
for	O
three	O
corresponding	B-Algorithm
points	I-Algorithm
and	O
one	O
line	O
correspondence	O
.	O
</s>
