The invention discloses a feature point line-based
monocular camera
pose estimation and optimization method and
system. The method comprises the following steps of: S1, constructing an overdeterminedlinear
system on the basis of a point constraint and a line constraint, and establishing a relationship between rotation matrixes and translation vectors; constructing a total cost function by utilizing a least square method according to cost functions of sub-constraints of the point constraint and the line constraint, obtaining a final cost function through importing Kaili parameter expression, and solving a
rotation matrix and a translation vector of camera
pose by utilizing the final cost function; and S2, importing a Sampson error in the point constraint and the line constraint to construct a target function, and optimizing the
rotation matrix and the translation vector by adoption of an FNS
iterator by taking the
rotation matrix and the translation vector obtained in the step S2 as initial values. The method and
system are unlimited to
monocular photo obtaining equipment and photo scenes, are suitable for photos of vehicle-mounted
monocular cameras, onboard monocular cameras and handheld monocular cameras, and are also suitable for photos in road scenes,
aviation scenes and indoor scenes.