# An Accurate and Real-time Relative Pose Estimation from Triple Point-line Images by Decoupling Rotation and Translation

arXiv: https://arxiv.org/abs/2403.11639 · HTML: https://mlsanity.com/paper/2403.11639/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 12 of its 47 references that are in the map.
- First posted on arXiv 18 Mar 2024.

## Builds on (most cited first, 12 of 12)

- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [PL-SLAM: a Stereo SLAM System through the Combination of Points and Line Segments](https://mlsanity.com/paper/1705.09479/) (2017)
- [3D Line Mapping Revisited](https://mlsanity.com/paper/2303.17504/) (2023)
- [A Pose-only Solution to Visual Reconstruction and Navigation](https://mlsanity.com/paper/2103.01530/) (2021)
- [Learning to Solve Hard Minimal Problems](https://mlsanity.com/paper/2112.03424/) (2021)
- [PLMP -- Point-Line Minimal Problems in Complete Multi-View Visibility](https://mlsanity.com/paper/1903.10008/) (2019)
- [Uncertainty-Aware Camera Pose Estimation from Points and Lines](https://mlsanity.com/paper/2107.03890/) (2021)
- [The Probabilistic Normal Epipolar Constraint for Frame-To-Frame Rotation Optimization under Uncertain Feature Positions](https://mlsanity.com/paper/2204.02256/) (2022)
- [Trifocal Relative Pose from Lines at Points and its Efficient Solution](https://mlsanity.com/paper/1903.09755/) (2019)
- [Monocular Rotational Odometry with Incremental Rotation Averaging and Loop Closure](https://mlsanity.com/paper/2010.01872/) (2020)
- [Instant Visual Odometry Initialization for Mobile AR](https://mlsanity.com/paper/2107.14659/) (2021)
- [Stereo-NEC: Enhancing Stereo Visual-Inertial SLAM Initialization with Normal Epipolar Constraints](https://mlsanity.com/paper/2403.07225/) (2024)

## Built on by (most cited first, 3 of 3)

- [Full-DoF Egomotion Estimation for Event Cameras Using Geometric Solvers](https://mlsanity.com/paper/2503.03307/) (2025)
- [Trifocal Tensor and Relative Pose Estimation with Known Vertical Direction](https://mlsanity.com/paper/2512.19110/) (2025)
- [IUP-Pose: Decoupled Iterative Uncertainty Propagation for Real-time Relative Pose Regression via Implicit Dense Alignment v1](https://mlsanity.com/paper/2603.19625/) (2026)

## Abstract (arXiv)

Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately solve three-view relative motion only with 2D observations of points and lines in real time has not been fully explored. In this paper, we propose a novel three-view pose solver based on rotation-translation decoupled estimation. First, a high-precision rotation estimation method based on normal vector coplanarity constraints that consider the uncertainty of observations is proposed, which can be solved by Levenberg-Marquardt (LM) algorithm efficiently. Second, a robust linear translation constraint that minimizes the degree of the rotation components and feature observation components in equations is elaborately designed for estimating translations accurately. Experiments on synthetic data and real-world data show that the proposed approach improves both rotation and translation accuracy compared to the classical trifocal-tensor-based method and the state-of-the-art two-view algorithm in outdoor and indoor environments.