Procrustean Point-Line Registration and the NPnP Problem

In this paper we formulate the point-line registration problem, which generalizes absolute orientation to point-line matching, in terms of an instance of the orthogonal Procrustes problem, and derive its solution. The same formulation solves the Non-Perspective-n-Point camera pose problem, which in turn generalizes exterior orientation to non-central cameras, i.e., Generalized cameras where projection rays do not meet in a single point. Our Procrustean solution is very simple and compact, and copes also with scaling. Experiments with simulated data demonstrate that our method compares favourably with the state-of-the-art in terms of accuracy.