title: Robust camera pose estimation from unknown or known line correspondences.
abstract: We address the model-to-image registration problem with line features in the following two ways. (a) We present a robust solution to simultaneously recover the camera pose and the three-dimensional-to-two-dimensional line correspondences. With weak pose priors, our approach progressively verifies the pose guesses with a Kalman filter by using a subset of recursively found match hypotheses. Experiments show our method is robust to occlusions and clutter. (b) We propose a new line feature based pose estimation algorithm, which iteratively optimizes the objective function in the object space. Experiments show that the algorithm has strong robustness to noise and outliers and that it can attain very accurate results efficiently.
authors.affiliation: College of Aerospace and Materials Engineering, National University of Defense Technology, Changsha 410073, Hunan, China.
authors.forename: Xiaohu
authors.initials: X
authors.lastname: Zhang
authors.forename: Zheng
authors.initials: Z
authors.lastname: Zhang
authors.forename: You
authors.initials: Y
authors.lastname: Li
authors.forename: Xianwei
authors.initials: X
authors.lastname: Zhu
authors.forename: Qifeng
authors.initials: Q
authors.lastname: Yu
authors.forename: Jianliang
authors.initials: J
authors.lastname: Ou