Camera Pose Estimation Based on PnL With a Known Vertical Direction

Louis Lecrosnier, Rémi Boutteau, Pascal Vasseur, Xavier Savatier, Friedrich Fraundorfer

Research output: Contribution to journalArticlepeer-review


In this letter, we address the problem of camera pose estimation using two-dimensional (2D) and 3-D line features, also known as PnL (Perspective-n-Line) with a known vertical direction. The minimal number of line correspondences required to estimate the complete camera pose is 3 (P3L) in the general case, yielding to a minimum of eight possible solutions. Prior knowledge of the vertical direction, such as provided by common sensors (e.g., inertial measurement unit, or IMU), reduces the problem to a 4 DoF problem and outputs a single solution. We benefit this fact to decouple the remaining rotation estimation and the translation estimation and we present a twofold contribution: First, we present a linear formulation of the PnL problem in Plücker lines coordinates with a known vertical direction, including a Gauss–Newton-based orientation and location refinement to compensate IMU sensor noise. Second, we …
Original languageEnglish
Pages (from-to)3852-3859
JournalIEEE Robotics and Automation Letters
Issue number4
Publication statusPublished - 2019

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