Stereo relative pose from line and point feature triplets

Alexander Vakhitov, Victor Lempitsky, Yinqiang Zheng

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    2 Citations (Scopus)


    Stereo relative pose problem lies at the core of stereo visual odometry systems that are used in many applications. In this work we present two minimal solvers for the stereo relative pose. We specifically consider the case when a minimal set consists of three point or line features and each of them has three known projections on two stereo cameras. We validate the importance of this formulation for practical purposes in our experiments with motion estimation. We then present a complete classification of minimal cases with three point or line correspondences each having three projections, and present two new solvers that can handle all such cases. We demonstrate a considerable effect from the integration of the new solvers into a visual SLAM system.

    Original languageEnglish
    Title of host publicationComputer Vision – ECCV 2018 - 15th European Conference, 2018, Proceedings
    EditorsVittorio Ferrari, Cristian Sminchisescu, Yair Weiss, Martial Hebert
    PublisherSpringer Verlag
    Number of pages16
    ISBN (Print)9783030012366
    Publication statusPublished - 2018
    Event15th European Conference on Computer Vision, ECCV 2018 - Munich, Germany
    Duration: 8 Sep 201814 Sep 2018

    Publication series

    NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    Volume11212 LNCS
    ISSN (Print)0302-9743
    ISSN (Electronic)1611-3349


    Conference15th European Conference on Computer Vision, ECCV 2018


    • Generalized camera
    • Line features
    • Minimal solver
    • Relative pose
    • Stereo visual odometry


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