Fast and reliable object pose estimation from line correspondences

Abstract : In this paper, we describe a fast object pose estimation method from 3-D to 2-D line correspondences using a perspective camera model. The principle consists in iteratively improving the pose computed with an affine camera model (either weak perspective or paraperspective) to converge, at the limit, to a pose estimation computed with a perspective camera model. Thus, the advantage of the method is to reduce the problem to solving a linear system at each iteration step. The iterative algorithms that we describe in detail in this paper can deal with non coplanar or coplanar object models and have interesting properties both in terms of speed and rate of convergence.