Thesis Details
Camera Pose Estimation from Lines using Direct Linear Transformation
This thesis is concerned with camera pose estimation from correspondences of 3D/2D lines, i.e. with the Perspective-n-Line (PnL) problem. Attention is focused on large line sets which can be efficiently solved by methods using linear formulation of PnL. Up to date, methods working only with point-line correspondences were known. Motivated by this, two novel methods based on the Direct Linear Transformation (DLT) algorithm are proposed: DLT-Plücker-Lines working with line-line correspondences and DLT-Combined-Lines working with both point-line and line-line correspondences. In the latter case, the redundant information reduces the minimum of required line correspondences to 5 and improves accuracy of the method. The methods were extensively evaluated and compared to several state-of-the-art PnL methods in various conditions including simulated and real-world data. DLT-Combined-Lines achieves results similar to or better than state-of-the-art, while it is still highly efficient. In addition, the thesis introduces a unifying framework for DLT-based pose estimation methods, within which the proposed methods are presented.
camera pose estimation, absolute orientation, exterior orientation, Perspective-n-Line problem, PnL, line correspondences, Direct Linear Transformation, DLT
@phdthesis{FITPT556, author = "Bronislav P\v{r}ibyl", type = "Ph.D. thesis", title = "Camera Pose Estimation from Lines using Direct Linear Transformation", school = "Brno University of Technology, Faculty of Information Technology", year = 2018, location = "Brno, CZ", language = "english", url = "https://www.fit.vut.cz/study/phd-thesis/556/" }