Linear Algorithms for Object Pose Estimation

This paper concerns the estimation of object pose in scenes where objects are located on the ground plane which has known orientation and position w.r.t. the camera. Novel algorithms are described, based on the concept of interpretation planes and that of pencils of planes. The methods are linear, computationally simple, and give unique and closed-form solutions, thus eliminating many of the problems associated with the existing pose recovery algorithms. They require a minimum of two 2D-3D line correspondences. Experimental results are included which show that the proposed algorithms are robust to noise, and capable of accurate pose recovery using real images of outdoor scenes.