  In this work we present a unified method of relative camera pose estimation
from points and lines correspondences. Given a set of 2D points and lines
correspondences in three views, of which two are known, a method has been
developed for estimating the camera pose of the third view. Novelty of this
algorithm is to combine both points and lines correspondences in the camera
pose estimation which enables us to compute relative camera pose with a small
number of feature correspondences. Our central idea is to exploit the
tri-linear relationship between three views and generate a set of linear
equations from the points and lines correspondences in the three views. The
desired solution to the system of equations are expressed as a linear
combination of the singular vectors and the coefficients are computed by
solving a small set of quadratic equations generated by imposing orthonormality
constraints for general camera motion. The advantages of the proposed method
are demonstrated by experimenting on publicly available data set. Results show
the robustness and efficiency of the method in relative camera pose estimation
for both small and large camera motion with a small set of points and line
features.
