  We present a method for solving two minimal problems for relative camera pose
estimation from three views, which are based on three view correspondences of
i) three points and one line and the novel case of ii) three points and two
lines through two of the points. These problems are too difficult to be
efficiently solved by the state of the art Groebner basis methods. Our method
is based on a new efficient homotopy continuation (HC) solver framework MINUS,
which dramatically speeds up previous HC solving by specializing HC methods to
generic cases of our problems. We characterize their number of solutions and
show with simulated experiments that our solvers are numerically robust and
stable under image noise, a key contribution given the borderline intractable
degree of nonlinearity of trinocular constraints. We show in real experiments
that i) SIFT feature location and orientation provide good enough
point-and-line correspondences for three-view reconstruction and ii) that we
can solve difficult cases with too few or too noisy tentative matches, where
the state of the art structure from motion initialization fails.
