Monocular pose determination from coplanartwo points and one line features
基于共面二点一线特征的单目视觉定位

This paper studied monocular pose determination problem from point and line mixed features. It presented a method to calculate the pose parameters between a camera and an object if coplanar two points and one line features on the object and their given correspondences on the image. It described detailed algorithm according to the geometric relationship of the three features in two cases, and translated the problem into solving a quadratic equation. The real experiment shows the method is effective. It provides a new method for pose determination using monocular vision.