From Line Correspondences

Using lines as the features for analysis has some advantages. This chapter addresses the subject of using lines to estimate the motion and structure parameters. A closed-form solution to this problem is derived. The corresponding linear algorithm makes use of redundancy in the data to improve the accuracy of the solution in the presence of noise. We also study the uniqueness of the solution as well as the necessary and sufficient conditions for the algorithm to give the unique solution. The optimization and performance bound are also investigated.

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