Papers › Efficient Solution of Point-Line Absolute Pose
Efficient Solution of Point-Line Absolute Pose
Petr Hruby, Timothy Duff, Marc Pollefeys
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 p ∈{ 1, 2 } point--point correspondences and l=3-p 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 ≥4 (univariate) polynomials when p=2, or degree ≥8 polynomials when p=1. We describe and implement two elementary solutions which reduce the degrees of the needed polynomials from $4$ to $2$ and from $8$ to $4$, respectively. We show experimentally that the resulting solvers are numerically stable and fast: when compared to the previous state-of-the art, we may obtain nearly an order of magnitude speedup. The code is available at \url{https://github.com/petrhruby97/efficient\_absolute}
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