IEEE Trans Pattern Anal Mach Intell. 2017 Jun;39(6):1209-1222. doi: 10.1109/TPAMI.2016.2582162. Epub 2016 Jun 20.
In this paper we deal with the camera pose estimation problem from a set of 2D/3D line correspondences, which is also known as PnL (Perspective-n-Line) problem. We carry out our study by comparing PnL with the well-studied PnP (Perspective-n-Point) problem, and our contributions are three-fold: (1) We provide a complete 3D configuration analysis for P3L, which includes the well-known P3P problem as well as several existing analyses as special cases. (2) By exploring the similarity between PnL and PnP, we propose a new subset-based PnL approach as well as a series of linear-formulation-based PnL approaches inspired by their PnP counterparts. (3) The proposed linear-formulation-based methods can be easily extended to deal with the line and point features simultaneously.
在本文中，我们处理从一组 2D/3D 线对应中估计相机姿势的问题，这也称为 PnL（透视线）问题。我们通过将 PnL 与经过充分研究的 PnP（透视点）问题进行比较来进行研究，我们的贡献有三点：（1）我们为 P3L 提供了完整的 3D 配置分析，其中包括著名的 P3P 问题以及几个现有分析作为特例。（2）通过探索 PnL 和 PnP 之间的相似性，我们提出了一种新的基于子集的 PnL 方法，以及一系列受其 PnP 对应方法启发的基于线性公式的 PnL 方法。（3）所提出的基于线性公式的方法可以很容易地扩展为同时处理线和点特征。
