Camera Pose Estimation from Line Correspondences using Plücker Coordinates

Camera Pose Estimation, Camera Calibration, Camera Parameters, Plücker Coordinates

This is a Matlab implementation of an algorithm for camera pose estimation. The input is the intrinsic camera parameters (i.e. the camera has to be geometrically calibrated), the 3D lines seen by the camera and the corresponding 2D lines in the normalized image plane. Thanks to the parametrization of 3D lines, their projection into a plane is a linear operation and a line projection matrix can be thus estimated using Linear Least Squares method. The camera pose parameters are then extracted from the line projection matrix. The output of the algorithm are the extrinsic camera parameters - camera position and orientation with respect to the world coordinate system.

This software can be used as a module for the Mobile application for D-NOTAM visualization, thus enabling 3D visualization of airspaces and D-NOTAMs by means of augmented reality.

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