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We present a method for solving two minimal problems for relative camera poseestimation from three views, which are based on three view correspondences ofi) three points and one line and the novel case of ii) three points and twolines through two of the points. These problems are too difficult to beefficiently solved by the state of the art Groebner basis methods. Our methodis based on a new efficient homotopy continuation (HC) solver framework MINUS,which dramatically speeds up previous HC solving by specializing HC methods togeneric cases of our problems. We characterize their number of solutions andshow with simulated experiments that our solvers are numerically robust andstable under image noise, a key contribution given the borderline intractabledegree of nonlinearity of trinocular constraints. We show in real experimentsthat i) SIFT feature location and orientation provide good enoughpoint-and-line correspondences for three-view reconstruction and ii) that wecan solve difficult cases with too few or too noisy tentative matches, wherethe state of the art structure from motion initialization fails.

Trifocal Relative Pose from Lines at Points and its Efficient Solution