Supplementary material for the BMVC 2015 paper

# Camera Pose Estimation from Lines
using Plücker Coordinates

Bronislav Přibyl, Pavel Zemčík, Martin Čadík

Experiments with Real Images

The proposed method was tested using real-world images to show it works also in practice. The images from the Multiview Dataset of the Visual Geometry Group, University of Oxford were used.

This dataset contains indoor and outdoor image sequences of buildings with extracted 2D line segments and their reconstructed positions in 3D. The correspondences between the 3D and 2D line segments and camera projection matrices are available as well.

The state-of-the-art as well as our proposed method (Mirzaei, Zhang, ours) were run on different image sequences and the estimated camera poses were used to reproject the 3D lines onto the images to validate the results.

Image sequences:

- Merton College I
- Merton College II
- Merton College III
- University Library
- Wadham College
- Corridor

### Merton College I

Image Nr. | Ground Truth
| Mirzaei
mean orient. error: | 1.610 °
mean position error: | 0.511 m
| Zhang
mean orient. error: | 0.401 °
mean position error: | 0.115 m
| ours
mean orient. error: | 0.195 °
mean position error: | 0.128 m
001 |  |  |  |
002 |  |  |  |
003 |  |  |  |

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### Merton College II

Image Nr. | Ground Truth
| Mirzaei
mean orient. error: | 22.477 °
mean position error: | 5.234 m
| Zhang
mean orient. error: | 0.676 °
mean position error: | 0.336 m
| ours
mean orient. error: | 0.218 °
mean position error: | 0.151 m
001 |  |  |  |
002 |  |  |  |
003 |  |  |  |

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### Merton College III

Image Nr. | Ground Truth
| Mirzaei
mean orient. error: | 1.667 °
mean position error: | 0.608 m
| Zhang
mean orient. error: | 0.859 °
mean position error: | 0.436 m
| ours
mean orient. error: | 0.223 °
mean position error: | 0.101 m
001 |  |  |  |
002 |  |  |  |
003 |  |  |  |

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### University Library

Image Nr. | Ground Truth
| Mirzaei
mean orient. error: | 0.837 °
mean position error: | 0.423 m
| Zhang
mean orient. error: | 1.558 °
mean position error: | 0.833 m
| ours
mean orient. error: | 0.189 °
mean position error: | 0.138 m
001 |  |  |  |
002 |  |  |  |
003 |  |  |  |

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### Wadham College

Image Nr. | Ground Truth
| Mirzaei
mean orient. error: | 21.778 °
mean position error: | 3.907 m
| Zhang
mean orient. error: | 0.103 °
mean position error: | 0.047 m
| ours
mean orient. error: | 0.086 °
mean position error: | 0.072 m
001 |  |  |  |
002 |  |  |  |
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### Corridor

Image Nr. | Ground Truth
| Mirzaei
mean orient. error: | 15.510 °
mean position error: | 1.510 m
| Zhang
mean orient. error: | 0.029 °
mean position error: | 0.008 m
| ours
mean orient. error: | 0.034 °
mean position error: | 0.013 m
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