ITERATIVE DETERMINATION OF CAMERA POSE FROM LINE FEATURES

Zhang, X.; Sun, X.; Yuan, Y.; Zhu, Z.; Yu, Q.

doi:https://doi.org/10.5194/isprsarchives-XXXIX-B3-81-2012

Volume XXXIX-B3

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XXXIX-B3, 81–86, 2012
https://doi.org/10.5194/isprsarchives-XXXIX-B3-81-2012
© Author(s) 2012. This work is distributed under
the Creative Commons Attribution 3.0 License.

Volume XXXIX-B3

24 Jul 2012

ITERATIVE DETERMINATION OF CAMERA POSE FROM LINE FEATURES

X. Zhang^2,1, X. Sun^2,1, Y. Yuan^2,1, Z. Zhu^2,1, and Q. Yu^2,1 X. Zhang et al.

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

Keywords: pose estimation, line feature, orthogonal iteration

Abstract. 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.