Research Article Open Access

Efficient Pose Tracking based on Line Segment Matching

Junqiu Wang1, Jingjing Cui1, Yanjie Gao1, Yanxuan Ma1, Zhichao Gan1 and Chao Yang1
  • 1 Beijing Changcheng Aviation Measurement and Control Institute, China
American Journal of Engineering and Applied Sciences
Volume 12 No. 1, 2019, 1-9


Submitted On: 29 October 2018 Published On: 27 December 2018

How to Cite: Wang, J., Cui, J., Gao, Y., Ma, Y., Gan, Z. & Yang, C. (2019). Efficient Pose Tracking based on Line Segment Matching. American Journal of Engineering and Applied Sciences, 12(1), 1-9.


Pose tracking is a crucial issue for many applications such as robotic tasks and facility operations. Vision-based approaches with non-contact properties are appropriate choices for these tasks. However, vision-based approaches are not sufficiently robust and fast. In this work, we propose a vision-based pose tracking to deal with these problems. We estimate poses using Lie group and Lie algebra representation theory. Such operation is performed in a linearized space, therefore it is convenient for pose estimation. To provide reliable visual information for our pose estimation, we detect line segments. Our detection of line segment depends on semi-global image information. We describe all line segments and match those detected in consecutive frames. Our line segment detector and matching descriptor are good at discarding ambiguous line segments and finding real ones in noisy situations. The integration of group theory and line segment detection and matching plays an important role for developing a robust vision-based pose tracking system. Our system proves to be efficient and robust.

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  • Pose Tracking
  • Lie Algebra
  • Line Detection and Matching