Determining camera pose using free-form lines

Determining pose or exterior orientation of a camera is an important step in surface reconstruction and subsequent steps such as perceptual organization and object recognition in photogrammetry or computer vision. Pose refers to position and attitude of a perspective camera at the time of exposure. It is generally determined using a set of points in object space and image space. Using free-form lines as a common feature between image and object spaces has always been a challenge. It is basically due to the unavailability of a mathematical model that relates free-form lines in object space, image space and pose of the camera. This paper introduces an innovative mathematical model to determine the camera pose using free-form lines. Everything recorded by a sensor can be considered a discretization of the physical surface. Hence, it is less likely that the same points can be recorded or identified in both image and object space and it is usually easier to find corresponding lines. The method will lead a way to determine pose of images using historical Geographical Information System(GIS) or object space data.