Efficient Solution of Point-Line Absolute Pose

We revisit certain problems of pose estimation based on 3D-2D correspondences between features which may be points or lines. Specifically, we address the two previouslystudied minimal problems of estimating camera extrinsics from p ∈ 1, 2 point-point correspondences and l = 3 -p line-line correspondences. To the best of our knowledge, all of the previously-known practical solutions to these problems required computing the roots of degree ≥ 4 (univariate) polynomials when p = 2, or degree ≥ 8 polynomials when p = 1. We describe and implement two elementary solutions which reduce the degrees of the needed polynomials from 4 to 2 and from 8 to 4, respectively. We show experimentally that the resulting solvers are numerically stable and fast: when compared to the previous stateof-the art, we may obtain nearly an order of magnitude speedup. The code is available at https://github . com/petrhruby97/efficient_absolute