It int roduces s ome opt imizat ion methods in model-based pose est imat ion. Camera calibration parameters mus t be accurat e enough t o guarantee est imation precison. A new cos t function is proposed t o minimize the 3D reconst ruct ion error of control point s, and it makes calibrat ion paramet ers globally optimal. In binocular case, real-time genetic algorithm( RGA) is ex plored f or global searching, and it improves the converg ent speed. Ex periment s verif y these schemes , and they can improve es timat ion precis ion dramatically.

Research on Optimization.pdf

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