Abstract: It is a classical problem to estimate the camera pose from a calibrated image of 3D entities（points or lines） in computer vision. According to the coplanarity of the corresponding image line and space line, a new group of constraints are introduced based on the dual-number methods. Different from the existing methods based on lines, this paper doesn’t use an isolated point on either the space line or the image line, but the whole line data. Thus, it is evitable to detect the corner as well as the corresponding propagating error. Extensive tests show that the proposed algorithm is efficient.

Key words: pose estimation, camera localization, dual number

摘要： 由空间几何信息（如点、线）与其图像元素间的对应关系来确定摄像机的外参数（位置和方向），即姿态估计问题，是计算机视觉、摄影测量学等的主要研究问题之一。在针孔摄像机模型下，利用对偶数这一数学工具把基于点的姿态估计算法推广到基于线的姿态估计算法，使得点、线姿态估计算法得到了统一。与已有的基于线的姿态估计算法区别在于，并未利用空间线或图像线上孤立的点的信息，而是线的整体信息，这就避免了点对应问题以及由此带来的误差等问题。大量的模拟实验和真实实验验证了方法的可行性和有效性。

关键词: 姿态估计, 摄像机定位, 对偶数