Trifocal Relative Pose From Lines at Points

Fabbri, Ricardo, Duff, Timothy, Fan, Hongyi, Regan, Margaret, de Pinho, David da Costa, Tsigaridas, Elias, Wampler, Charles, Hauenstein, Jonathan, Giblin, Peter J, Kimia, Benjamin B
et al (show 2 more authors) (2023) Trifocal Relative Pose From Lines at Points. IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, 45 (6). pp. 7870-7884.

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We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of (i) three points and one line and the novel case of (ii) three points and two lines through two of the points. These problems are too difficult to be efficiently solved by the state of the art Gröbner basis methods. Our method is based on a new efficient homotopy continuation (HC) solver framework MINUS, which dramatically speeds up previous HC solving by specializing hc methods to generic cases of our problems. We characterize their number of solutions and show with simulated experiments that our solvers are numerically robust and stable under image noise, a key contribution given the borderline intractable degree of nonlinearity of trinocular constraints. We show in real experiments that (i) sift feature location and orientation provide good enough point-and-line correspondences for three-view reconstruction and (ii) that we can solve difficult cases with too few or too noisy tentative matches, where the state of the art structure from motion initialization fails.

Item Type: Article
Uncontrolled Keywords: Pose estimation, Geometry, Cameras, Pipelines, Pattern analysis, Three-dimensional displays, Tensors, Multiple view geometry, homotopy continuation, structure from motion using curves, numerical algebraic geometry
Divisions: Faculty of Science and Engineering > School of Physical Sciences
Depositing User: Symplectic Admin
Date Deposited: 10 Mar 2023 17:00
Last Modified: 19 Oct 2023 09:44
DOI: 10.1109/TPAMI.2022.3226165
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