  We present a new convex method to estimate 3D pose from mixed combinations of
2D-3D point and line correspondences, the Perspective-n-Points-and-Lines
problem (PnPL). We merge the contributions of each point and line into a
unified Quadratic Constrained Quadratic Problem (QCQP) and then relax it into a
Semi Definite Program (SDP) through Shor's relaxation. This makes it possible
to gracefully handle mixed configurations of points and lines. Furthermore, the
proposed relaxation allows us to recover a finite number of solutions under
ambiguous configurations. In such cases, the 3D pose candidates are found by
further enforcing geometric constraints on the solution space and then
retrieving such poses from the intersections of multiple quadrics. Experiments
provide results in line with the best performing state of the art methods while
providing the flexibility of solving for an arbitrary number of points and
lines.
