Nowadays, augmented reality is one of the research topic in computer vision and robotics fields, the most elemental problem in augmented reality is the estimation of the camera pose respect of an object in the case of computer vision area to do later some 3D rendering or in the case of robotics obtain an object pose in order to grasp it and manipulate. However this is not a trivial problem to solve, the most common issue in image processing is the computational cost of applying a lot of algorithms or mathematical operations to solve a problem that for humans is very easily and immediately.
In this report, I give a brief outline of the scheduling of my project proposal for the Google Summer of Code 2014. First of all, I will focus in contribute to OpenCV tutorials of how to manage with the 3D reconstruction API in order to guide the developers how to estimate the 3D position of an object from a 2D image. Secondly, I will focus the work in the implementation in OpenCV format the Direct Least-Squares (DLS) method.