Plücker Correction Problem: Analysis and Improvements in Efficiency
This work addresses a specific computational bottleneck in 3D line estimation for computer vision or geometry applications, representing an incremental improvement in efficiency.
The paper tackles the Plücker correction problem, which involves finding Plücker coordinates closest to noisy 6D vectors that violate the Klein quadric constraint, by proposing a simple, closed-form, and global solution that is easier and requires fewer operations than the state-of-the-art method, eliminating the need for Singular Value Decomposition.
A given six dimensional vector represents a 3D straight line in Plucker coordinates if its coordinates satisfy the Klein quadric constraint. In many problems aiming to find the Plucker coordinates of lines, noise in the data and other type of errors contribute for obtaining 6D vectors that do not correspond to lines, because of that constraint. A common procedure to overcome this drawback is to find the Plucker coordinates of the lines that are closest to those vectors. This is known as the Plucker correction problem. In this article we propose a simple, closed-form, and global solution for this problem. When compared with the state-of-the-art method, one can conclude that our algorithm is easier and requires much less operations than previous techniques (it does not require Singular Value Decomposition techniques).