Abstract
A weighted pose estimation method using lines that intersect at a point is proposed. Because of the weak constraints, the accuracy of pose estimation using lines in this configuration is sensitive to the error of a two-dimensional (2D) line parameter. Therefore, we construct the objective function directly based on weighted image line points instead of 2D lines; the influence of errors introduced through image line points is reduced by the reasonably designed weights. The translation parameter cannot be determined based on lines in this configuration; thus, when the rotation is obtained, is solved linearly by introducing one or more additional points. The experimental results indicate that our method outperforms other methods in terms of accuracy and noise robustness.
© 2016 Optical Society of America
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