Efficient Solution of Point-Line Absolute Pose

• URL: http://arxiv.org/abs/2404.16552v1
• Date: Thu, 25 Apr 2024 12:09:16 GMT
• Title: Efficient Solution of Point-Line Absolute Pose
• Authors: Petr Hruby, Timothy Duff, Marc Pollefeys,
• Abstract summary: We revisit certain problems of pose estimation based on 3D--2D correspondences between features which may be points or lines. We show experimentally that the resulting solvers are numerically stable and fast.
• Score: 52.775981113238046
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: 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 $\ge 4$ (univariate) polynomials when $p=2$, or degree $\ge 8$ 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 \url{https://github.com/petrhruby97/efficient\_absolute}

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