PoseGravity: Pose Estimation from Points and Lines with Axis Prior

TL;DR

This paper introduces PoseGravity, a novel camera pose estimation method utilizing points, lines, and an axis prior, solving the problem efficiently through geometric intersections, with validated experimental results.

Contribution

It presents a new geometric approach for pose estimation using axis prior, accommodating various feature combinations and simplifying special cases.

Findings

Efficient solution via hyperbola and circle intersection.

Flexible handling of point and line features.

Validated accuracy through extensive experiments.

Abstract

This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can be solved efficiently by finding the intersection points of a hyperbola and the unit circle. The solution can flexibly accommodate combinations of point and line features in minimal and overconstrained configurations. In addition, the two special cases of planar and minimal configurations are identified to yield simpler closed-form solutions. Extensive experiments validate the approach.