Multiview Absolute Pose Using 3D – 2D Perspective Line Correspondences and Vertical Direction

In this paper, we address the problem of estimating the absolute pose of a multiview calibrated perspective camera system from 3D - 2D line correspondences. We assume, that the vertical direction is known, which is often the case when the camera system is coupled with an IMU sensor, but it can also be obtained from vanishing points constructed in the images. Herein, we propose two solutions, both can be used as a minimal solver as well as a least squares solver without reformulation. The first solution consists of a single linear system of equations, while the second solution yields a polynomial equation of degree three in one variable and one systems of linear equations which can be efficiently solved in closed-form. The proposed algorithms have been evaluated on various synthetic datasets as well as on real data. Experimental results confirm state of the art performance both in terms of quality and computing time.