Pose Estimation with Unknown Focal Length using Points, Directions and Lines

Abstract:
In this paper, we study the geometry problems of estimating

camera pose with unknown focal length using combination

of geometric primitives. We consider points, lines

and also rich features such as quivers, i.e. points with one

or more directions. We formulate the problems as polynomial

systems where the constraints for different primitives

are handled in a unified way. We develop efficient polynomial

solvers for each of the derived cases with different

combinations of primitives. The availability of these solvers

enables robust pose estimation with unknown focal length

for wider classes of features. Such rich features allow for

fewer feature correspondences and generate larger inlier

sets with higher probability. We demonstrate in synthetic

experiments that our solvers are fast and numerically stable.

For real images, we show that our solvers can be used

in RANSAC loops to provide good initial solutions.