Motion from 3D line correspondences: linear and non-linear solutions

Authors:
Adrien Bartoli;Richard I. Hartley;Fredrik Kahl
Affiliations:
INRIA Rh⊚ne-Alpes, France;Australian National University;Lund University, Sweden
Venue:
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Year:
2003

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Abstract

We address the problem of aligning two reconstructions of lines and cameras in projective, affine, metric or Euclidean space. We propose several 3D and image-related linear algorithms. The result can be used to initialize the non-linear minimization of several proposed error functions, as well as the maximum likelihood estimator that we derive. We evaluate and compare our algorithms to existing ones using simulated and real data.