24 Jul 2012
24 Jul 2012
ITERATIVE DETERMINATION OF CAMERA POSE FROM LINE FEATURES
X. Zhang2,1, X. Sun2,1, Y. Yuan2,1, Z. Zhu2,1, and Q. Yu2,1
X. Zhang et al.
X. Zhang2,1, X. Sun2,1, Y. Yuan2,1, Z. Zhu2,1, and Q. Yu2,1
- 1College of Aerospace and Materials Engineering, National University of Defense Technology Changsha, 410073, P.R.China
- 2Hunan Key Laboratory of Videometrics and Vision Navigation, Changsha, 410073, P.R.China
- 1College of Aerospace and Materials Engineering, National University of Defense Technology Changsha, 410073, P.R.China
- 2Hunan Key Laboratory of Videometrics and Vision Navigation, Changsha, 410073, P.R.China
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Keywords: pose estimation, line feature, orthogonal iteration
we present an accurate and efficient solution for pose estimation from line features. By introducing coplanarity errors, we formulate the objective functions in terms of distances in the 3D scene space, and use different optimization strategies to find the best rotation and translation. Experiments show that the algorithm has strong robustness to noise and outliers, and that it can attain very accurate results efficiently.
