Mirage: an O(n) time analytical solution to 3D camera pose estimation with multi-camera support

Mirage is a camera pose estimation method that analytically solves pose parameters in linear time for multi-camera systems. It utilizes a reference camera pose to calculate the pose by minimizing the 2D projection error between reference and actual pixel coordinates. Previously, Mirage has been successfully applied to trajectory tracking (visual servoing) problem. In this study, a comprehensive evaluation of Mirage is performed by particularly focusing on the area of camera pose estimation. Experiments have been performed using simulated and real data on noisy and noise-free environments. The results are compared with the state-of-the-art techniques. Mirage outperforms other methods by generating fast and accurate results in all tested environments.