Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Direct Pose Estimation with a Monocular Camera   We present a direct method to calculate a 6DoF pose change of a monocular
camera for mobile navigation. The calculated pose is estimated up to a constant
unknown scale parameter that is kept constant over the entire reconstruction
process. This method allows a direct cal- culation of the metric position and
rotation without any necessity to fuse the information in a probabilistic
approach over longer frame sequence as it is the case in most currently used
VSLAM approaches. The algorithm provides two novel aspects to the field of
monocular navigation. It allows a direct pose estimation without any a-priori
knowledge about the world directly from any two images and it provides a
quality measure for the estimated motion parameters that allows to fuse the
resulting information in Kalman Filters. We present the mathematical
formulation of the approach together with experimental validation on real scene
images.

17
The categories of this paper are: q-fin
20
The categories of this paper are: acc-phys
18
The categories of this paper are: econ
3
The categories of this paper are: physics
6
The categories of this paper are: astro-ph
29
The categories of this paper are: funct-an
22
The categories of this paper are: chao-dyn
28
The categories of this paper are: alg-geom
13
The categories of this paper are: quant-ph
8
The categories of this paper are: hep-ex
27
The categories of this paper are: comp-gas
32
The categories of this paper are: atom-ph
9
The categories of this paper are: nlin
34
The categories of this paper are: chem-ph
15
The categories of this paper are: nucl-ex
26
The categories of this paper are: bayes-an