@string{ic3dv="Proceedings of International Conference on 3D Vision"}
@InProceedings{Horanyi2017a,
  author =	 {Nora Horanyi and Zoltan Kato},
  title =	 {Generalized Pose Estimation from Line
                  Correspondences with Known Vertical Direction},
  booktitle =	 ic3dv,
  year =	 2017,
  pages =	 {1-10},
  address =	 {Qingdao, China},
  month =	 oct,
  publisher =	 {IEEE},
  pdf       = {papers\3dv2017.pdf},
  abstract =	 {We propose a novel method to compute the absolute
                  pose of a generalized camera based on straight
                  lines, which are common in urban environment. The
                  only assumption about the imaging model is that 3D
                  straight lines are projected via projection planes
                  determined by the line and camera projection
                  directions, \ie correspondences are given as a 3D
                  world line and its projection plane. Since modern
                  cameras are frequently equipped with various
                  location and orientation sensors, we assume that the
                  vertical direction (\eg a gravity vector) is
                  available. Therefore we formulate the problem in
                  terms of 4 unknowns using 3D line - projection plane
                  correspondences which yields a closed form
                  solution. The solution can be used as a minimal
                  solver as well as a least squares solver without
                  reformulation. The proposed algorithm have been
                  evaluated on various synthetic datasets as well as
                  on real data. Experimental results confirm state of
                  the art performance both in terms of quality and
                  computing time.}
}