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An Accurate and Real-time Relative Pose Estimation from Triple Point-line Images by Decoupling Rotation and Translation
March 19, 2024, 4:50 a.m. | Zewen Xu, Yijia He, Hao Wei, Bo Xu, BinJian Xie, Yihong Wu
cs.CV updates on arXiv.org arxiv.org
Abstract: Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately solve three-view relative motion only with 2D observations of points and lines in real time has not been fully explored. In this paper, we propose a novel three-view pose solver based on rotation-translation decoupled estimation. First, a high-precision rotation estimation method based …
abstract arxiv constraints cs.cv cs.ro environments features however images line real-time rotation solve systems translation type view visual
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