Camera Pose Measurement from 2D-3D Correspondences of Three Z Shaped Lines

Pose measurement is an important problem in computer vision. This paper presents a method for finding the closed form solutions to camera pose measurement problem by using 2D-3D correspondences of three Z shaped lines. This problem is a special case of Perspective-three-Line (P3L) problem. By introducing two undetermined parameters, we translate the problem into solving a quadratic equation. We also prove the problem’s solution number depends on the relative position between the camera’s optical center and the three Z shaped lines. A unique solution exists when the optical center locates inside two right circular cones. The experiments show the method is efficient. The method provides a new way using line features and monocular vision to pose measurement and can be applied to many vision systems.