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

Xu, Chi, Zhang, Lilian, Cheng, Li and Koch, Reinhard (2017) Pose Estimation from Line Correspondences: A Complete Analysis and a Series of Solutions. IEEE Transactions on Pattern Analysis and Machine Intelligence, 39 (6). pp. 1209-1222. DOI 10.1109/TPAMI.2016.2582162.

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Abstract

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 three-fold: (1) We provide a complete 3D configuration analysis for P3L, which includes the wellknown 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.

Document Type: Article
Keywords: Cameras, Three-dimensional displays, Pose estimation, Mathematical model, Iterative methods, Computational complexity
Research affiliation: Kiel University > Kiel Marine Science
OceanRep > The Future Ocean - Cluster of Excellence
Kiel University
Refereed: Yes
Open Access Journal?: Yes
DOI etc.: 10.1109/TPAMI.2016.2582162
ISSN: 0162-8828
Date Deposited: 18 Dec 2017 10:55
Last Modified: 15 May 2019 13:51
URI: http://oceanrep.geomar.de/id/eprint/40729

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