Single view based pose estimation from circle or parallel lines

The paper is focused on the problem of pose estimation from a single view in minimum conditions that can be obtained from an image. Under the assumption of known intrinsic parameters, we propose and prove that the pose of the camera can be recovered uniquely in three situations: (i) the image of one circle with discriminable center; (ii) the image of one circle with preassigned world frame; (iii) the image of two general pairs of parallel lines. Compared with previous techniques, the proposed method does not need any 3D measurement of the circle or lines and the required conditions are easily satisfied in many scenarios. Extensive experiments on synthetic and real data are carried out to validate the proposed method.