Trifocal Relative Pose from Lines at Points and its Efficient Solution

1 code implementation • 23 Mar 2019 • Ricardo Fabbri, Timothy Duff, Hongyi Fan, Margaret Regan, David da Costa de Pinho, Elias Tsigaridas, Charles Wampler, Jonathan Hauenstein, Benjamin Kimia, Anton Leykin, Tomas Pajdla

We present a new minimal problem for relative pose estimation mixing point features with lines incident at points observed in three views and its efficient homotopy continuation solver.

Pose Estimation