PoseGravity: Pose Estimation from Points and Lines with Axis Prior
This work addresses camera pose estimation for computer vision applications, offering an incremental improvement by introducing a more flexible and efficient method.
The paper tackles the problem of estimating absolute camera pose using an axis prior, presenting an efficient algorithm that solves it by intersecting a hyperbola with the unit circle, which accommodates point and line features in various configurations.
This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can be solved efficiently by finding the intersection points of a hyperbola and the unit circle. The solution can flexibly accommodate combinations of point and line features in minimal and overconstrained configurations. In addition, the two special cases of planar and minimal configurations are identified to yield simpler closed-form solutions. Extensive experiments validate the approach.