The Judgment Method for the Unique Solution of Real-time Pose Estimation from Particular Line Correspondences

We usually can determine object pose from three lines in general position. For the particular line configuration of three non-coplanar lines which intersect at two points, it has some particular characteristics three lines in general position don't have, thus its mathematical expression is easy and it is easy to solve if we use this particular line configuration to locate object. This method enriches the pose estimation methods from three line correspondences in theory, at the same time, it provides the base for the practical applications. The article introduces the pose estimation method from this particular line configuration. The multi-solution phenomenon is the dominating problem that puzzles the computer vision for a long time and it will limit the application of pose estimation algorithm. To solve the multi-solution problem, we present a novel method to find the unique solution by position information of space lines. Especially, we provide a detailed account of the realizable aspects of the judgment method. At last, the simulation results which demonstrate our algorithm method works fast and robust are presented.