Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Line-based Camera Pose Estimation in Point Cloud of Structured
  Environments   Accurate registration of 2D imagery with point clouds is a key technology for
image-LiDAR point cloud fusion, camera to laser scanner calibration and camera
localization. Despite continuous improvements, automatic registration of 2D and
3D data without using additional textured information still faces great
challenges. In this paper, we propose a new 2D-3D registration method to
estimate 2D-3D line feature correspondences and the camera pose in untextured
point clouds of structured environments. Specifically, we first use geometric
constraints between vanishing points and 3D parallel lines to compute all
feasible camera rotations. Then, we utilize a hypothesis testing strategy to
estimate the 2D-3D line correspondences and the translation vector. By checking
the consistency with computed correspondences, the best rotation matrix can be
found. Finally, the camera pose is further refined using non-linear
optimization with all the 2D-3D line correspondences. The experimental results
demonstrate the effectiveness of the proposed method on the synthetic and real
dataset (outdoors and indoors) with repeated structures and rapid depth
changes.

26
The categories of this paper are: bayes-an
21
The categories of this paper are: adap-org
19
The categories of this paper are: eess
12
The categories of this paper are: nucl-th
14
The categories of this paper are: math-ph
15
The categories of this paper are: nucl-ex
29
The categories of this paper are: funct-an
2
The categories of this paper are: math
6
The categories of this paper are: astro-ph
30
The categories of this paper are: q-alg
17
The categories of this paper are: q-fin
33
The categories of this paper are: plasm-ph
3
The categories of this paper are: physics
24
The categories of this paper are: dg-ga
28
The categories of this paper are: alg-geom
27
The categories of this paper are: comp-gas