Solutions to the Minimal Multi-Perspective Pose

Solutions to the Minimal Multi-Perspective Pose Problems using Points and/or Lines (ECCV18)

If you use this code, cite the respective work:

• P. Miraldo, T. Dias, S. Ramalingam (2018),
  A Minimal Closed-Form Solution for Multi-Perspective Pose Estimation using Points and Lines,
  European Conf. Computer Vision (ECCV) [arXiv];
• G.H Lee (2016),
  A minimal solution for non-perspective pose estimation from line correspondences.
  European Conf. on Computer Vision (ECCV). pp. 170–185.
• G.H. Lee, B. Lin, M. Pollefeys, F. Fraundorfer (2015),
  Minimal solutions for the multicamera pose estimation problem,
  The International Journal of Robotics Research (IJRR) 34(7) 837–848; and

Solvers

• Minimal Pose using points and lines:

  • 2P1L: Single run [link]: and
  • 1P2L: Single run [link].

• State-of-the-Art techinques, using points or lines:

  • 3P: Single run [link]:
  • 3L: Single run [link].