Camera Pose Estimation from Lines using Pl\"ucker Coordinates

Understand

Correspondences between 3D lines and their 2D images captured by a camera are often used to determine position and orientation of the camera in space.

• In this work, we propose a novel algebraic algorithm to estimate the camera pose.
• We parameterize 3D lines using Pl\"ucker coordinates that allow linear projection of the lines into the image.
• A line projection matrix is estimated using Linear Least Squares and the camera pose is then extracted from the matrix.