Iterative Pose Computation from Line Correspondences

Stéphane Christy 1 Radu Horaud 1
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : This paper presents a method for estimating the position and orientation of a camera with respect to a known 3-D object from line correspondences. The main idea of the method is to estimate a pose with either a weak perspective or a paraperspective camera model and to improve this pose iteratively. At convergence the result is compatible with a perspective camera model. This iterative improvement of a linear (affine) camera model has already been used for points but has never been extended to lines. Known methods which compute pose from line correspondences deal with a set of non-linear equations which are solved either in closed-form or using minimization techniques. These methods have to deal with multiple solutions. In contrast our method starts with a solution which is very close to the true solution and converges in very few iterations (typically 3 to 5 iterations). The rank analysis of the linear system to be solved at each iteration allows us to characterize geometric configurations which defeat the algorithm.
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Article dans une revue
Computer Vision and Image Understanding, Elsevier, 1999, 73 (1), pp.137--144. 〈10.1006/cviu.1998.0717〉
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Stéphane Christy, Radu Horaud. Iterative Pose Computation from Line Correspondences. Computer Vision and Image Understanding, Elsevier, 1999, 73 (1), pp.137--144. 〈10.1006/cviu.1998.0717〉. 〈inria-00590104〉

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