Algorithm for attitude determination from three door-like lines

In this paper, we propose a novel closed-form method to determine object attitude with respect to the camera for three door-like lines. The advantage of this closed-form method is that it is simple. Furthermore, it can compute object pose more quickly than iterative methods because it avoids the iterative process of iterative methods. This method can locate object uniquely at last, thus it solves the multi-solution problem and facilitate the application of pose estimation algorithm in practice. 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.