Thesis Details

Camera Pose Estimation from Lines using Direct Linear Transformation

Ph.D. Thesis Student: Přibyl Bronislav Academic Year: 2017/2018 Supervisor: Zemčík Pavel, prof. Dr. Ing.
Czech title
Odhad pózy kamery z přímek pomocí přímé lineární transformace

This thesis is concerned with camera pose estimation from correspondences of 3D/2D lines, i.e. with the Perspective-n-Line (PnL) problem. Attention is focused on large line sets which can be efficiently solved by methods using linear formulation of PnL. Up to date, methods working only with point-line correspondences were known. Motivated by this, two novel methods based on the Direct Linear Transformation (DLT) algorithm are proposed: DLT-Plücker-Lines working with line-line correspondences and DLT-Combined-Lines working with both point-line and line-line correspondences. In the latter case, the redundant information reduces the minimum of required line correspondences to 5 and improves accuracy of the method. The methods were extensively evaluated and compared to several state-of-the-art PnL methods in various conditions including simulated and real-world data. DLT-Combined-Lines achieves results similar to or better than state-of-the-art, while it is still highly efficient. In addition, the thesis introduces a unifying framework for DLT-based pose estimation methods, within which the proposed methods are presented.


camera pose estimation, absolute orientation, exterior orientation, Perspective-n-Line problem, PnL, line correspondences, Direct Linear Transformation, DLT

Degree Programme
21 February 2018
PŘIBYL, Bronislav. Camera Pose Estimation from Lines using Direct Linear Transformation. Brno, 2017. Ph.D. Thesis. Brno University of Technology, Faculty of Information Technology. 2018-02-21. Supervised by Zemčík Pavel. Available from:
    author = "Bronislav P\v{r}ibyl",
    type = "Ph.D. thesis",
    title = "Camera Pose Estimation from Lines using Direct Linear Transformation",
    school = "Brno University of Technology, Faculty of Information Technology",
    year = 2018,
    location = "Brno, CZ",
    language = "english",
    url = ""
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