2021
A Complete, Accurate and Efficient Solution for the Perspective-N-Line Problem
RA-L 2021
This paper presents a complete, accurate, and efficient solution for the Perspective-n-Line (PnL) problem. Generally, the camera pose can be determined from N ≥ 3 2D-3D line correspondences. The minimal problem (N = 3) and the least-squares problem (N > 3) are generally solved in different ways. Thi