Lines and Points in Three Views and the Trifocal Tensor
International Journal of Computer Vision
Determining the Epipolar Geometry and its Uncertainty: A Review
International Journal of Computer Vision
Iterative pose computation from line correspondences
Computer Vision and Image Understanding
Pose estimation using point and line correspondences
Real-Time Imaging
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Computation of the Quadrifocal Tensor
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
On the Structure and Properties of the Quadrifocal Tensor
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
Linear Pose Estimation from Points or Lines
IEEE Transactions on Pattern Analysis and Machine Intelligence
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Multiple-View Structure and Motion From Line Correspondences
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Fusing Points and Lines for High Performance Tracking
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
Five-Point Motion Estimation Made Easy
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 01
Detailed Real-Time Urban 3D Reconstruction from Video
International Journal of Computer Vision
Automatic Generator of Minimal Problem Solvers
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part III
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
LSD: A Fast Line Segment Detector with a False Detection Control
IEEE Transactions on Pattern Analysis and Machine Intelligence
A videogrammetric as-built data collection method for digital fabrication of sheet metal roof panels
Advanced Engineering Informatics
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We propose a novel minimal solver for recovering camera motion across two views of a calibrated stereo rig. The algorithm can handle any assorted combination of point and line features across the four images and facilitates a visual odometry pipeline that is enhanced by well-localized and reliably-tracked line features while retaining the well-known advantages of point features. The mathematical framework of our method is based on trifocal tensor geometry and a quaternion representation of rotation matrices. A simple polynomial system is developed from which camera motion parameters may be extracted more robustly in the presence of severe noise, as compared to the conventionally employed direct linear/subspace solutions. This is demonstrated with extensive experiments and comparisons against the 3-point and line-sfm algorithms.