Absolute pose estimation from line correspondences using direct linear transformation

Absolute pose estimation from line correspondences using direct linear transformation

This work is concerned with camera pose estimation from correspondences of 3D/2D lines, i.e. with the Perspective-n-Line (PnL) problem. We focus on large line sets, which can be efficiently solved by methods using linear formulation of PnL. We propose a novel method ‘DLT-Combined-Lines’ based on the Direct Linear Transformation (DLT) algorithm, which benefits from a new combination of two exist...

Pose Estimation using Point and Line Correspondences

The problem of object pose from 2D to 3D correspondences has received a lot of attention both in the photogrammetry and computer vision literatures. Various approaches to the object pose (or external camera parameters) problem fall into two distinct categories: closed-form solutions and non-linear solutions. Closed-form solutions may be applied only to a limited number of correspondences [1,2]....

3D Camera Pose Estimation Using Line Correspondences and 1D Homographies

This paper describes a new method for matching line segments between two images in order to compute the relative camera pose. This approach improves the camera pose for images lacking stable point features but where straight line segments are available. The line matching algorithm is divided into two stages: At first, scale-invariant feature points along the lines are matched incorporating a on...

Globally Optimal Pose Estimation from Line-Plane Correspondences r930

A New Method for Pose Estimation from Line Correspondences

We can usually determine the pose of objects from three lines in a general position. The configuration of three noncoplanar lines that intersect at two points has some particular characteristics, which three lines in a general position do not have. Here, we present a new method of determining object pose using this particular line configuration. In theory, this method enriches the pose estimati...