H. Abdellali, R. Frohlich, Z. Kato: A Direct Least-Squares Solution to Multi-View Absolute and Relative Pose. In Proceedings of the 2019 International Conference on Computer Vision (ICCV 2019). IEEE, pp. 1-10. link

Abstract: We propose a new algorithm for estimating the absolute and relative pose of a multi-view camera system. We derive a direct least squares solver using Grobner basis which works both for the minimal case (set of 3 line pairs for each camera) and the general case using all inlier 2D-3D line pairs for a multi-view camera system. The algorithm has been validated on a large synthetic dataset as well as real data. Experimental results confirm the stable and real-time performance under realistic outlier ratio and noise on the line parameters. Comparative tests show that our method compares favorably to the latest state of the art algorithms.