Accurate O(n) pose estimation method using both lines and points

Lines and points often coexist in application scenarios, but they are commonly used separately. An accurate O(n) pose estimation method that uses both lines and points is proposed in this paper. 3D point is first represented using one point and three vectors, and their coordinates in camera coordinate system are composed the unknowns basing on which the pose is estimated. Two points are then chosen on each 3D line to construct an equation system, and it is linearly combined with the equations constructed using points. Finally the joint equation system is efficiently solved by picking several weights of the eigenvectors of a 12 × 12 matrix. Experiment results show that the method is both accurate and fast.