Robust camera pose estimation combining 2D/3D points and lines tracking

@article{Ababsa2008RobustCP,
  title={Robust camera pose estimation combining 2D/3D points and lines tracking},
  author={Fakhreddine Ababsa and Malik Mallem},
  journal={2008 IEEE International Symposium on Industrial Electronics},
  year={2008},
  pages={774-779}
}
This paper presents a new robust camera pose estimation algorithm based on real-time 3D model tracking. We propose to combine point and line features in order to handle partial occlusion and increase the accuracy. A non linear optimization method is used to estimate the camera pose parameters. Robustness is obtained by integrating a M-estimator into the optimisation process. Furthermore, a crucial condition for pose estimation problem is the consistency of 2D/3D correspondences between image… CONTINUE READING

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