Pl\"ucker Correction Problem: Analysis and Improvements in Efficiency

TL;DR

This paper introduces a simple, efficient, closed-form solution for the Plücker correction problem, improving computational simplicity and speed over existing methods by avoiding complex SVD calculations.

Contribution

The authors propose a novel, straightforward closed-form method for the Plücker correction problem that is easier to implement and computationally more efficient than previous approaches.

Findings

The new algorithm is simpler and requires fewer operations.

It outperforms state-of-the-art methods in efficiency.

It does not require Singular Value Decomposition.

Abstract

A given six dimensional vector represents a 3D straight line in Plucker coordinates if its coordinates satisfy the Klein quadric constraint. In many problems aiming to find the Plucker coordinates of lines, noise in the data and other type of errors contribute for obtaining 6D vectors that do not correspond to lines, because of that constraint. A common procedure to overcome this drawback is to find the Plucker coordinates of the lines that are closest to those vectors. This is known as the Plucker correction problem. In this article we propose a simple, closed-form, and global solution for this problem. When compared with the state-of-the-art method, one can conclude that our algorithm is easier and requires much less operations than previous techniques (it does not require Singular Value Decomposition techniques).