A new closed-form method for pose estimation from three Z-like lines

In this paper, we present a new method for estimating object pose from 2-D to 3-D straight line correspondences. This method can get the closed-form solution of object pose with respect to the camera from three Z-like lines. The advantage of this method is that it can compute object pose more quickly than iterative method because it avoids the iterative process of iterative methods. Whatpsilas more, this method is simple to solve. Especially, we provide a detailed account of the computational aspects of this method. At last, experimental results which demonstrate our method works well and fast are presented.