Representing pose by spherical functions for pose estimation

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  • 球関数による姿勢表現と姿勢推定

Abstract

We propose a novel representation of pose in 3 degrees-of-freedom (DOF) for view-based pose estimation. First we show that a conventional representation of pose in 1 DOF is a Fourier basis, and extend the observation to 2 DOF with spherical harmonics. Then we represent 3 DOF pose with spherical functions that are continuous on SO(3), and give transformations from the spherical functions representation to a quaternion and a rotation matrix.

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