A New Method for Pose Estimation from Line Correspondences
一种新的基于直线的定位方法

We can usually determine the pose of objects from three lines in a general position.The configuration of three non- coplanar lines that intersect at two points has some particular characteristics,which three lines in a general position do not have. Here,we present a new method of determining object pose using this particular line configuration.In theory,this method enriches the pose estimation methods from three line correspondences.In addition,it provides guidance for practical applications.Furthermore, we propose a method to deal with multi-solution phenomenon and a new iterative method.Simulation results demonstrate that our algorithm works speedily and robustly.