The representation, recognition, and locating of 3-d objects
International Journal of Robotics Research
Robust regression and outlier detection
Robust regression and outlier detection
A Nonparametric Method for Fitting a Straight Line to a Noisy Image
IEEE Transactions on Pattern Analysis and Machine Intelligence
Simultaneous fitting of several planes to point sets using neural networks
Computer Vision, Graphics, and Image Processing
Object recognition by computer: the role of geometric constraints
Object recognition by computer: the role of geometric constraints
Robust regression methods for computer vision: a review
International Journal of Computer Vision
Determining motion from 3D line segment matches: a comparative study
Image and Vision Computing
Estimating 3-D location parameters using dual number quaternions
CVGIP: Image Understanding
Matching Sets of 3D Line Segments with Application to Polygonal Arc Matching
IEEE Transactions on Pattern Analysis and Machine Intelligence
Length Estimation in 3-D Using Cube Quantization
Journal of Mathematical Imaging and Vision
A Bayesian Method for Fitting Parametric and Nonparametric Models to Noisy Data
IEEE Transactions on Pattern Analysis and Machine Intelligence
Three D-Dynamic Scene Analysis: A Stereo Based Approach
Three D-Dynamic Scene Analysis: A Stereo Based Approach
Matching 3-D Line Segments with Applications to Multiple-Object Motion Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Structure and Motion from Line Segments in Multiple Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Estimating motion and structure from correspondences of line segments between two perspective images
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Visibility-Based Test Scene Understanding by Real Plane Search
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing, Part II
Visibility-based modelling and control for network-based robotics
Pattern Recognition Letters
Spatial Modelling for Mobile Robot's Vision-based Navigation
Journal of Intelligent and Robotic Systems
Large scale multiple robot visual mapping with heterogeneous landmarks in semi-structured terrain
Robotics and Autonomous Systems
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Abstract--Matching two sets of lines is a basic tool that has applications in many computer vision problems such as scene registration, object recognition, motion estimation, and others. Line sets may be composed of infinitely long lines or finite length line segments. Depending on line lengths, three basic cases arise in matching sets of lines: 1) finite-finite, 2) finite-infinite, and 3) infinite-infinite. Case 2 has not been treated in the literature. For Cases 1 and 3, existing algorithms for matching 3D line sets are not completely satisfactory in that they either solve special situations, or give approximate solutions, or may not converge, or are not invariant with respect to coordinate system transforms. In this paper, we present new algorithms that solve exactly all three cases for the general situation. The algorithms are provably convergent and invariant to coordinate transforms. Experiments with synthetic and real 3D image data are reported.