An Accurate and Real-time Relative Pose Estimation from Triple Point-line Images by Decoupling Rotation and Translation

no code implementations • 18 Mar 2024 • Zewen Xu, Yijia He, Hao Wei, Bo Xu, BinJian Xie, Yihong Wu

First, a high-precision rotation estimation method based on normal vector coplanarity constraints that consider the uncertainty of observations is proposed, which can be solved by Levenberg-Marquardt (LM) algorithm efficiently.

Pose Estimation Translation +2