Determination of the Attitude of 3D Objects from a Single Perspective View
IEEE Transactions on Pattern Analysis and Machine Intelligence
Determination of Camera Location from 2-D to 3-D Line and Point Correspondences
IEEE Transactions on Pattern Analysis and Machine Intelligence
Least-Squares Estimation of Transformation Parameters Between Two Point Patterns
IEEE Transactions on Pattern Analysis and Machine Intelligence
Pose Determination from Line-to-Plane Correspondences: Existence Condition and Closed-Form Solutions
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust methods for estimating pose and a sensitivity analysis
CVGIP: Image Understanding
Iterative pose computation from line correspondences
Computer Vision and Image Understanding
Structure and Motion from Line Segments in Multiple Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Linear Pose Estimation from Points or Lines
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Numerical Recipes 3rd Edition: The Art of Scientific Computing
Numerical Recipes 3rd Edition: The Art of Scientific Computing
EPnP: An Accurate O(n) Solution to the PnP Problem
International Journal of Computer Vision
Trends in augmented reality tracking, interaction and display: A review of ten years of ISMAR
ISMAR '08 Proceedings of the 7th IEEE/ACM International Symposium on Mixed and Augmented Reality
LSD: A Fast Line Segment Detector with a False Detection Control
IEEE Transactions on Pattern Analysis and Machine Intelligence
Z-shaped Perspective-Three-Line Problem's Unique Solution Conditions
ICINIS '10 Proceedings of the 2010 Third International Conference on Intelligent Networks and Intelligent Systems
CVPR '11 Proceedings of the 2011 IEEE Conference on Computer Vision and Pattern Recognition
Hand-Held Monocular SLAM Based on Line Segments
IMVIP '11 Proceedings of the 2011 Irish Machine Vision and Image Processing Conference
A Robust O(n) Solution to the Perspective-n-Point Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Optimal estimation of vanishing points in a Manhattan world
ICCV '11 Proceedings of the 2011 International Conference on Computer Vision
A Direct Least-Squares (DLS) method for PnP
ICCV '11 Proceedings of the 2011 International Conference on Computer Vision
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We propose a non-iterative solution for the Perspective-n-Line (PnL) problem, which can efficiently and accurately estimate the camera pose for both small number and large number of line correspondences. By selecting a rotation axis in the camera framework, the reference lines are divided into triplets to form a sixteenth order cost function, and then the optimum is retrieved from the roots of the derivative of the cost function by evaluating the orthogonal errors and the reprojected errors of the local minima. The final pose estimation is normalized by a 3D alignment approach. The advantages of the proposed method are as follows: (1) it stably retrieves the optimum of the solution with very little computational complexity and high accuracy; (2) small line sets can be robustly handled to achieve highly accurate results and; (3) large line sets can be efficiently handled because it is O(n).