Robust Extended Kalman Filtering for camera pose tracking using 2D to 3D lines correspondences

In this paper, we present a new robust camera pose estimation approach based on 3D lines tracking. We used an extended Kalman filter (EKF) to incrementally update the camera pose in real-time. The principal contributions of our method includes first, the expansion of the RANSAC scheme in order to achieve a robust matching algorithm that associates 2D edges from the image with the 3D line segments from the input model. And second, a new framework for camera pose estimation using 2D-3D straight-lines within an EKF. Experimental results on real image sequences are presented to evaluate the performances and the feasibility of the proposed approach.