Pose Estimation from Line Correspondences: A Complete Analysis and A Series of Solutions

Published date : 20 Jun 2016

In this paper we deal with the camera pose estimation problem from a set of 2D/3D line correspondences, which is also known as PnL (Perspective-n-Line) problem. We carry out our study by comparing PnL with the well-studied PnP (Perspective-n-Point) problem, and our contributions are threefold: (1) We provide a complete 3D configuration analysis for P3L, which includes the well-known P3P problem as well as several existing analyses as special cases. (2) By exploring the similarity between PnL and PnP, we propose a new subset-based PnL approach as well as a series of linear-formulation-based PnL approaches inspired by their PnP counterparts. (3) The proposed linear-formulation-based methods can be easily extended to deal with the line and point features simultaneously.

type
Journal Paper
journal
IEEE Transactions on Pattern Analysis and Machine Intelligence, Issue 99, 2016, doi: 10.1109/TPAMI.2016.2582162
Url
http://ieeexplore.ieee.org/document/7494617/
Impact Factor
6.077