{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/efficient-solution-of-point-line-absolute","title":"Efficient Solution of Point-Line Absolute Pose","arxiv_id":"2404.16552","date":"2024-04-25","proceeding":"CVPR 2024 1","authors":["Petr Hruby","Timothy Duff","Marc Pollefeys"],"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 $p \\in \\{ 1, 2 \\}$ 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 $\\ge 4$ (univariate) polynomials when $p=2$, or degree $\\ge 8$ 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}","url_abs":"https://arxiv.org/abs/2404.16552v1","url_pdf":"https://arxiv.org/pdf/2404.16552v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"efficient-solution-of-point-line-absolute","repo_url":"https://github.com/petrhruby97/efficient_absolute","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"pose-estimation","task_name":"Pose Estimation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2404.16552","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}