Publication detail

Camera Pose Estimation from Lines using Plücker Coordinates

PŘIBYL, B. ZEMČÍK, P. ČADÍK, M.

Original Title

Camera Pose Estimation from Lines using Plücker Coordinates

Type

conference paper

Language

English

Original Abstract

Correspondences between 3D lines and their 2D images captured by a camera are often used to determine position and orientation of the camera in space. In this work, we propose a novel algebraic algorithm to estimate the camera pose. We parameterize 3D lines using Plücker coordinates that allow linear projection of the lines into the image. A line projection matrix is estimated using Linear Least Squares and the camera pose is then extracted from the matrix. An algebraic approach to handle mismatched line correspondences is also included. The proposed algorithm is an order of magnitude faster yet comparably accurate and robust to the state-of-the-art, it does not require initialization, and it yields only one solution. The described method requires at least 9 lines and is particularly suitable for scenarios with 25 and more lines, as also shown in the results. The Matlab code of the proposed method is available for download (http://www.fit.vutbr.cz/~ipribyl/prods.php.en?id=410).

Keywords

Camera Pose Estimation, Plücker Coordinates, Linear Least Squares, Direct Linear Transformation, Algebraic Outlier Rejection

Authors

PŘIBYL, B.; ZEMČÍK, P.; ČADÍK, M.

RIV year

2015

Released

7. 9. 2015

Publisher

The British Machine Vision Association and Society for Pattern Recognition

Location

Swansea

ISBN

978-1-901725-53-7

Book

Proceedings of the British Machine Vision Conference (BMVC 2015)

Pages from

1

Pages to

12

Pages count

12

URL

https://dx.doi.org/10.5244/C.29.45

BibTex

@inproceedings{BUT119789,
  author="Bronislav {Přibyl} and Pavel {Zemčík} and Martin {Čadík}",
  title="Camera Pose Estimation from Lines using Plücker Coordinates",
  booktitle="Proceedings of the British Machine Vision Conference (BMVC 2015)",
  year="2015",
  pages="1--12",
  publisher="The British Machine Vision Association and Society for Pattern Recognition",
  address="Swansea",
  doi="10.5244/C.29.45",
  isbn="978-1-901725-53-7",
  url="https://dx.doi.org/10.5244/C.29.45"
}