Pose determination from line-to-plane correspondences: existence condition and closed-form solutions

A class of pose determination problems in which the sensory data are lines and the corresponding reference data are planes is discussed. The lines considered are different from edge lines in that they are not the intersection of boundary faces of the object. The author describes a polynomial approach that does not require a priori knowledge about the object location. Closed-form solutions for orthogonal, parallel, and coplanar feature configurations of critical importance in real applications are derived. Findings concerning the necessary and sufficient conditions under which the line-to-plane pose determination problem can be solved are described