We present a new convex method to estimate 3D pose from mixed combinations of 2D-3D point and line correspondences, the Perspective-n-Points-and-Lines problem (PnPL). We merge the contributions of each point and line into a unified Quadratic Constrained Quadratic Problem (QCQP) and then relax it into a Semi Definite Program (SDP) through Shor's relaxation. This makes it possible to gracefully handle mixed configurations of points and lines. Furthermore, the proposed relaxation allows us to recover a finite number of solutions under ambiguous configurations. In such cases, the 3D pose candidates are found by further enforcing geometric constraints on the solution space and then retrieving such poses from the intersections of multiple quadrics. Experiments provide results in line with the best performing state of the art methods while providing the flexibility of solving for an arbitrary number of points and lines.

基于点线组合的三维姿态估计问题的新凸方法,使用统一的二次约束二次问题并通过 Shor 松弛法将其放松为半定规划,可以优雅地处理点和线的混合配置并在不确定的情况下恢复有限数量的解。实验结果表明,该方法不仅具有灵活性,而且结果与最好的现有方法相符。

CvxPnPL: 基于点线对应关系的绝对位姿估计问题的统一凸解决方案