Camera Pose Estimation from 2D-3D Point and Line Correspondences on KITTI sequences 00-02
0.14Mean Rotation Error (deg)EPnPL
Evaluation results
| Method | Links | ||
|---|---|---|---|
| EPnPLRefinement protocol=uncertain refinement (U), Input data=Points+Lines2021.07 | 0.14 | 12.1 | |
| EPnPLU*Refinement protocol=uncertain refinement (U), Input data=Points+Lines+Uncertainty2021.07 | 0.14 | 9.3 | |
| EPnPLRefinement protocol=standard refinement (S), Input data=Points+Lines2021.07 | 0.18 | 20.4 | |
| EPnPLU*Refinement protocol=standard refinement (S), Input data=Points+Lines+Uncertainty2021.07 | 0.18 | 9.8 | |
| EPnPLRefinement protocol=isolation (N), Input data=Points+Lines2021.07 | 0.25 | 37.1 | |
| EPnPLU*Refinement protocol=isolation (N), Input data=Points+Lines+Uncertainty2021.07 | 0.34 | 25.2 | |
| DLSLU*Refinement protocol=standard refinement (S), Input data=Points+Lines+Uncertainty2021.07 | 0.52 | 12.2 | |
| DLSLU*Refinement protocol=uncertain refinement (U), Input data=Points+Lines+Uncertainty2021.07 | 0.52 | 12 | |
| DLSLU*Refinement protocol=isolation (N), Input data=Points+Lines+Uncertainty2021.07 | 0.63 | 18.2 | |
| OPnPLRefinement protocol=standard refinement (S), Input data=Points+Lines2021.07 | 0.68 | 267.4 | |
| OPnPLRefinement protocol=uncertain refinement (U), Input data=Points+Lines2021.07 | 0.9 | 497.7 | |
| OPnPLRefinement protocol=isolation (N), Input data=Points+Lines2021.07 | 1.02 | 650.1 |