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Citaton
C. Xu; L. Zhang; L. Cheng; R. Koch, "Pose Estimation from Line Correspondences: A Complete Analysis and A Series of Solutions," in IEEE Transactions on Pattern Analysis and Machine Intelligence , vol.PP, no.99, pp.1-1
doi: 10.1109/TPAMI.2016.2582162
The paper can be downloaded free (open access) from IEEE Xplore
URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7494617&isnumber=435928
doi: 10.1109/TPAMI.2016.2582162
The paper can be downloaded free (open access) from IEEE Xplore
URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7494617&isnumber=435928
Bibtex
@ARTICLE{rpnl2016,
author={C. Xu and L. Zhang and L. Cheng and R. Koch},
journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
title={Pose Estimation from Line Correspondences: A Complete Analysis and A Series of Solutions},
year={2016},
keywords={Camera Pose Estimation;Configuration Analysis;Perspective-3-Line;Perspective-n-Line},
doi={10.1109/TPAMI.2016.2582162},
ISSN={0162-8828}, }
author={C. Xu and L. Zhang and L. Cheng and R. Koch},
journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
title={Pose Estimation from Line Correspondences: A Complete Analysis and A Series of Solutions},
year={2016},
keywords={Camera Pose Estimation;Configuration Analysis;Perspective-3-Line;Perspective-n-Line},
doi={10.1109/TPAMI.2016.2582162},
ISSN={0162-8828}, }
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 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.
keywords: {Camera Pose Estimation;Configuration Analysis;Perspective-3-Line;Perspective-n-Line}
keywords: {Camera Pose Estimation;Configuration Analysis;Perspective-3-Line;Perspective-n-Line}
Related Papers
[1] Shiqi Li, Chi Xu*, Ming Xie, "A Robust O(n) Solution to the Perspective-n-Point Problem," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 34, no. 7, pp. 1444-1450, July 2012, doi:10.1109/TPAMI.2012.41
[2] Lilian Zhang, Chi Xu*, Kok-Meng Lee, and Reinhard Koch. "Robust and efficient pose estimation from line correspondences." In Asian Conference on Computer Vision, pp. 217-230. Springer Berlin Heidelberg, 2012.
[3] Shiqi Li, Chi Xu*. A Stable Direct Solution of Perspective-Three-Point Problem [J]. International Journal of Pattern Recognition and Artificial Intelligence, 2011, 25(5): 643-673
[2] Lilian Zhang, Chi Xu*, Kok-Meng Lee, and Reinhard Koch. "Robust and efficient pose estimation from line correspondences." In Asian Conference on Computer Vision, pp. 217-230. Springer Berlin Heidelberg, 2012.
[3] Shiqi Li, Chi Xu*. A Stable Direct Solution of Perspective-Three-Point Problem [J]. International Journal of Pattern Recognition and Artificial Intelligence, 2011, 25(5): 643-673