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TDA4VM: Queries regarding pose_estimate

Katherine Wang
Intellectual 2210 points

Part Number: TDA4VM

Hi Team,

I have a few queries about Around View Monitors.

I am studying the AVM part in TDA4 and carefully read the source code part as well as its corresponding articles (spry270a.pdf).

However, I feel confused and find it difficult to understand the following issues clearly.

1) Regarding the content in "CHARTPOS.BIN", what is "inChartPos32"? It seems to be a graph.

Could you please provide a clear definition of this chart?

2) The result of pose estimate is R and t, so what are this R and t of the camera relative to? Are they relative to the ground? If they are relative to the ground, where is the origin of the ground coordinate system?

3) Regarding the content of pose estimate, I didn't understand the part related to its mathematical principle.

I don’t know how its mathematical formula corresponds to the source code.

So I would like to if you could provide a more detailed document than "spry270a.pdf", preferably with a derivation of the formula.

Thanks.

Kind regards,

Katherine