Determination of camera location from 2D to 3D line and point correspondences

A novel method for the determination of camera location from 2-D to 3-D line or point correspondences is presented. Using this method, the computation of the rotation matrix and the translation vector of the camera are separable. First, the rotation matrix is found by a linear algorithm using eight or more line correspondences, or by a nonlinear algorithm using three of more line correspondences, where the line correspondences are either given or derived from point correspondences. Then, the translation vector can be obtained by solving a set of linear equations based on three or more line correspondences, or two or more point correspondences. Eight 2-D-to-3-D line or point correspondences or six 2-D-to-3-D point correspondences are needed for the linear approach; three 2-D-to-3-D line or point correspondences for the nonlinear approach. Good results can be obtained in the presence of noise if more than the minimum required number of correspondences are used