Trifocal Tensor and Relative Pose Estimation from 8 Lines and Known Vertical Direction
Banglei Guan,Pascal Vasseur,Cédric Demonceaux,Banglei Guan,Pascal Vasseur,Cédric Demonceaux
In this paper, we present a relative pose estimation algorithm based on lines knowing the vertical direction associated to each image. We demonstrate that a closed-form solution requiring only eight lines between three views is possible. As a linear solution, it is shown that our approach outperforms the standard trifocal estimation based on 13 triplets of lines and can be efficiently inserted int...
