Optimal Camera Orientation from Points and Straight Lines

  • Authors:

  • Marc Luxen;Wolfgang Förstner

  • Affiliations:

  • -;-

  • Venue:
  • Proceedings of the 23rd DAGM-Symposium on Pattern Recognition
  • Year:
  • 2001

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Abstract

This paper presents an optimal estimate for the projection matrix for points of a camera from an arbitrary mixture of six or more observed points and straight lines in object space. It gives expressions for determining the corresponding projection matrix for straight lines together with its covariance matrix. Examples on synthetic and real images demonstrate the feasibility of the approach.