Camera Pose Estimation: Minimizing Reprojection Error

Camera pose estimation is a fundamental task in computer vision that involves determining the camera's position and orientation in 3D space. This is typically achieved by minimizing the difference between the observed image points and their corresponding projected points, often referred to as the 'reprojection error'. This error represents the discrepancy between where a 3D point should appear in the image based on the estimated camera pose and its actual observed location. By minimizing this error, we can refine the camera's pose to achieve a more accurate representation of the scene.