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Efficient Solution of Point-Line Absolute Pose
April 26, 2024, 4:45 a.m. | Petr Hruby, Timothy Duff, Marc Pollefeys
cs.CV updates on arXiv.org arxiv.org
Abstract: We revisit certain problems of pose estimation based on 3D--2D correspondences between features which may be points or lines. Specifically, we address the two previously-studied minimal problems of estimating camera extrinsics from $p \in \{ 1, 2 \}$ point--point correspondences and $l=3-p$ line--line correspondences. To the best of our knowledge, all of the previously-known practical solutions to these problems required computing the roots of degree $\ge 4$ (univariate) polynomials when $p=2$, or degree $\ge 8$ …
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