Efficient Solution of Point-Line Absolute Pose

We revisit certain problems of pose estimation based on 3D-2D correspondences between features which may be points or lines. Specifically, we address the two previously-studied minimal problems of estimating camera extrinsics from p\in\{1,2\} point-point correspondences and l=3-p line-line correspon...

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Bibliographic Details
Main Authors: Hruby, Petr, Duff, Timothy, Pollefeys, Marc
Format: Conference Proceeding
Language:English
Subjects:
absolute pose
Cameras
Codes
Computer vision
Galois theory
line correspondences
minimal solver
Polynomials
Pose estimation
Runtime
Online Access:Request full text
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Summary:We revisit certain problems of pose estimation based on 3D-2D correspondences between features which may be points or lines. Specifically, we address the two previously-studied minimal problems of estimating camera extrinsics from p\in\{1,2\} point-point correspondences and l=3-p line-line correspondences. To the best of our knowledge, all of the previously-known practical solutions to these problems required computing the roots of degree \geq 4 (univariate) polynomials when p=2 , or degree \geq 8 polynomials when p=1 . We describe and implement two elementary solutions which reduce the degrees of the needed polynomials from 4 to 2 and from 8 to 4, respectively. We show experimentally that the resulting solvers are numerically stable and fast: when compared to the previous state-of-the art, we may obtain nearly an order of magnitude speedup. The code is available at https://github.com/petrhruby97/efficient_absolute
ISSN:2575-7075
DOI:10.1109/CVPR52733.2024.02014