Triangulation for points on lines
Image and Vision Computing
MSLD: A robust descriptor for line matching
Pattern Recognition
Pattern Recognition Letters
Triangulation for points on lines
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part III
Egomotion Estimation Using Assorted Features
International Journal of Computer Vision
Robust line matching through line-point invariants
Pattern Recognition
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We address the problem of camera motion and structurereconstruction from line correspondences across multiple views,from initialization to final bundle adjustment. One of the maindifficulties when dealing with line features is their algebraicrepresentation. First, we consider the triangulation problem. Basedon Plücker coordinates to represent the lines, we propose amaximum likelihood algorithm, relying on linearising thePlücker constraint, and on a Plücker correction procedureto compute the closest Plücker coordinates to a given6-vector. Second, we consider the bundle adjustment problem.Previous overparameterizations of 3D lines induce gauge freedomsand/or internal consistency constraints. We propose the orthonormalrepresentation, which allows handy non-linear optimization of 3Dlines using the minimum 4 parameters, within an unconstrainednon-linear optimizer. We compare our algorithms to existing ones onsimulated and real data.