Trifocal Tensor and Relative Pose Estimation from 8 Lines and Known Vertical Direction

Banglei Guan; Pascal Vasseur; Cédric Demonceaux

IROS 2022poster2 citations

Trifocal Tensor and Relative Pose Estimation from 8 Lines and Known Vertical Direction

Banglei Guan, Pascal Vasseur, Cédric Demonceaux

Abstract

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 into an hypothesize-and-test framework such as RANSAC. We also study our approach on different singular configurations of lines. The method is evaluated on both synthetic data and real-world sequences from KITTI and the Zürich Urban Micro Aerial Vehicle datasets. Our method is compared to 13 lines algorithm as well to points based methods such as 7-points, 5-points and 3-points.

BibTeX

@inproceedings{iros2022_trifocaltensoran,
  title = {Trifocal Tensor and Relative Pose Estimation from 8 Lines and Known Vertical Direction},
  author = {Banglei Guan and Pascal Vasseur and Cédric Demonceaux},
  booktitle = {IROS 2022},
  year = {2022}
}