![](bg4.png)
The above two experiments show that our results
are worse slightly than those of (Ansar, A., 2003).
However, we think it maybe many redundant
constraints are added by mathematical operations.
We also note that the translation error is much worse
than that of (Ansar, A., 2003) especially, it is
possible because of the propagated error from the
rotation estimation. Moreover, it has been shown
that the result of solving rotation and translation
simultaneously is better than that of solving them
separately (R., Hanson, A., 1994).
4.2 Real Experiments
All images were taken with a Nikon Coolpix990
camera. We take an image of a real box fixing the
camera internal parameters. The image resolution is
640*480 pixels. We extract 7 line segments on the
box manually, as shown in red in Figure 5. The
camera internal parameters are calibrated using the
method in (Faugerous, O., 1986). Using the
estimated pose, all of the box’s edges are reprojected
onto the image, the results are shown in Figure 6.
Figure 5: Seven lines on the
box.
Figure 6: Reprojection using
R,t under seven lines.
5 CONCLUSIONS
In this paper, according to the coplanarity of the
corresponding image line and space line, a new
group of constraints is introduced based on the dual
number. Different from the existing methods based
on lines, we do not use an isolated point on either
the space line or the image line, but the whole line
data. Thus, it is evitable to detect the corner as well
as the corresponding propagating error.
In addition,
the optimization value is searched only in the
space of orthogonal matrix, so as compared with
other optimization methods, our algorithm may be
faster and it seems that it is not necessary to
provide better initial value.
ACKNOWLEDGEMENTS
Thanks for the support by National Natural Science
Foundation of P. R. China(60673104), and the
Research Foundation of North China University of
Technology.
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