Estimation of camera pose using 2D-3D occluded corner correspondence

In this paper, we investigate how camera pose can be estimated from 2D to 3D corner correspondence when vertex of the corner is occluded. We show that the image coordinate of the occluded vertex can be easily estimated from the image edge lines by an analytical method. Then the camera pose parameters can be recovered from 2D to 3D correspondences of the corner and a nonsingular point on it over a single view. A ground truth comparison is made by experiments using controlled scenes, which shows that the method is promising.