Poster
Efficient Solution of Point-Line Absolute Pose
Petr Hruby · Timothy Duff · Marc Pollefeys
Arch 4A-E Poster #171
Abstract:
We revisit certain problems of pose estimation based on 3D--2D correspondences between features which may be points or lines. Specifically, we address the two previously-studied minimal problems of estimating camera extrinsics from point--point correspondences and line--line correspondences. To the best of our knowledge, all of the previously-known practical solutions to these problems required computing the roots of degree (univariate) polynomials when , or degree polynomials when We describe and implement two elementary solutions which reduce the degrees of the needed polynomials from to and from to , respectively. We show experimentally that the resulting solvers are numerically stable and fast: when compared to the previous state-of-the art, we obtain nearly an order of magnitude speedup.
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