ITERATIVE DETERMINATION OF CAMERA POSE FROM LINE FEATURES

Article, Other literature type English OPEN
Zhang, X. ; Sun, X. ; Yuan, Y. ; Zhu, Z. ; Yu, Q. (2012)
  • Publisher: Copernicus Publications
  • Journal: (issn: 2194-9034, eissn: 2194-9034)
  • Related identifiers: doi: 10.5194/isprsarchives-XXXIX-B3-81-2012
  • Subject: TA1-2040 | T | TA1501-1820 | Applied optics. Photonics | Engineering (General). Civil engineering (General) | Technology

we present an accurate and efficient solution for pose estimation from line features. By introducing coplanarity errors, we formulate the objective functions in terms of distances in the 3D scene space, and use different optimization strategies to find the best rotation and translation. Experiments show that the algorithm has strong robustness to noise and outliers, and that it can attain very accurate results efficiently.
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