Silhouette Based 2D-3D Pose Estimation using Algebraic Surfaces

model. One approach (the explicit approach) to the problem involves registering the 3D model points to lines back-projected
through the image silhouette in order to reveal the optimal pose parameters. Another approach is to represent the 3D model and
the image silhouette as zero-sets of implicit polynomials and then to minimise the distance between image outline pixels and the
zero-set of the silhouette equation to reveal the optimal pose parameters. This work deals with representing 3D models as implicit
polynomials, then computing silhouette equations using elimination theory and finally estimating pose parameters.