{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T01:44:51Z","timestamp":1760233491373,"version":"build-2065373602"},"reference-count":26,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2021,1,19]],"date-time":"2021-01-19T00:00:00Z","timestamp":1611014400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U1601651"],"award-info":[{"award-number":["U1601651"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>For the problem of 3D line reconstruction in binocular or multiple view stereo vision, when there are no corresponding points on the line, the method called Direction-then-Point (DtP) can be used, and if there are two pairs of corresponding points on the line, the method called Two Points 3D coordinates (TPS) can be used. However, when there is only one pair of corresponding points on the line, can we get the better accuracy than DtP for 3D line reconstruction? In this paper, a linear and more accurate method called Point-then-Direction (PtD) is proposed. First, we used the intersection method to obtain the 3D point\u2019s coordinate from its corresponding image points. Then, we used this point as a position on the line to calculate the direction of the line by minimizing the image angle residual. PtD is also suitable for multiple camera systems. The simulation results demonstrate that PtD increases the accuracy of both the direction and the position of the 3D line compared to DtP. At the same time, PtD achieves a better result in direction of the 3D line than TPS, but has a lower accuracy in the position of 3D lines than TPS.<\/jats:p>","DOI":"10.3390\/s21020658","type":"journal-article","created":{"date-parts":[[2021,1,20]],"date-time":"2021-01-20T03:34:25Z","timestamp":1611113665000},"page":"658","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["An Accurate Linear Method for 3D Line Reconstruction for Binocular or Multiple View Stereo Vision"],"prefix":"10.3390","volume":"21","author":[{"given":"Lijun","family":"Zhong","sequence":"first","affiliation":[{"name":"School of Aeronautics and Astronautics, Sun Yat-Sen University, Guangzhou 510275, China"}]},{"given":"Junyou","family":"Qin","sequence":"additional","affiliation":[{"name":"School of Aeronautics and Astronautics, Sun Yat-Sen University, Guangzhou 510275, China"}]},{"given":"Xia","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Aeronautics and Astronautics, Sun Yat-Sen University, Guangzhou 510275, China"}]},{"given":"Xiaohu","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Aeronautics and Astronautics, Sun Yat-Sen University, Guangzhou 510275, China"}]},{"given":"Yang","family":"Shang","sequence":"additional","affiliation":[{"name":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410003, China"}]},{"given":"Hongliang","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410003, China"}]},{"given":"Qifeng","family":"Yu","sequence":"additional","affiliation":[{"name":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410003, China"}]}],"member":"1968","published-online":{"date-parts":[[2021,1,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"384","DOI":"10.1177\/0142331212451991","article-title":"A new approach for measurement of pitch, roll and yaw angles based on a circular feature","volume":"35","author":"Liu","year":"2013","journal-title":"Trans. Inst. Meas. Control"},{"key":"ref_2","first-page":"110","article-title":"Determining relative position and attitude of a close non-cooperative target based on the SIFT algorithm","volume":"3","author":"Hao","year":"2014","journal-title":"J. Beijing Inst. Technol."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Yin, F., Chou, W., Wu, Y., Yang, G., and Xu, S. (2018). Sparse unorganized point cloud based relative pose estimation for uncooperative space target. Sensors, 18.","DOI":"10.3390\/s18041009"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"213","DOI":"10.1016\/j.actaastro.2017.06.021","article-title":"Non-cooperative spacecraft pose tracking based on point cloud feature","volume":"139","author":"He","year":"2017","journal-title":"Acta Astronaut."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"22344","DOI":"10.1109\/ACCESS.2017.2759798","article-title":"An efficient pose measurement method of a space non-cooperative target based on stereo vision","volume":"5","author":"Peng","year":"2017","journal-title":"IEEE Access"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"3008","DOI":"10.1109\/JSEN.2018.2889469","article-title":"Pose measurement and motion estimation of space non-cooperative targets based on laser radar and stereo-vision fusion","volume":"19","author":"Peng","year":"2018","journal-title":"IEEE Sens. J."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2014\/671589","article-title":"Stereo-vision-based relative pose estimation for the rendezvous and docking of noncooperative satellites","volume":"2014","author":"Yu","year":"2014","journal-title":"Math. Probl. Eng."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"2047","DOI":"10.1016\/j.actaastro.2010.10.021","article-title":"Pose measurement of large non-cooperative satellite based on collaborative cameras","volume":"68","author":"Du","year":"2011","journal-title":"Acta Astronaut."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Miao, X., Zhu, F., and Hao, Y. (2011, January 24\u201326). Pose estimation of non-cooperative spacecraft based on collaboration of space-ground and rectangle feature. Proceedings of the International Symposium on Photoelectronic Detection and Imaging 2011: Space Exploration Technologies and Applications, Beijing, China.","DOI":"10.1117\/12.900008"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2011\/243268","article-title":"Vision-based tracking of uncooperative targets","volume":"2011","author":"Kannan","year":"2011","journal-title":"Int. J. Aerosp. Eng."},{"key":"ref_11","unstructured":"Baillard, C., Schmid, C., Zisserman, A., and Fitzgibbon, A. (1999, January 8\u201310). Automatic line matching and 3D reconstruction of buildings from multiple views. Proceedings of the ISPRS Conference on Automatic Extraction of GIS Objects from Digital Imagery, Munich Germany."},{"key":"ref_12","first-page":"15","article-title":"A new method of measure the pitching and yaw of the axes symmetry object through the optical image","volume":"22","author":"Yu","year":"2000","journal-title":"J. Natl. Univ. Def. Technol."},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Hartley, R., and Zisserman, A. (2003). Multiple View Geometry in Computer Vision, Cambridge University Press.","DOI":"10.1017\/CBO9780511811685"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"345","DOI":"10.1127\/1432-8364\/2012\/0122","article-title":"Accurate reconstruction of near-epipolar line segments from stereo aerial images","volume":"2012","author":"Ok","year":"2012","journal-title":"Photogramm. Fernerkund. Geoinf."},{"key":"ref_15","unstructured":"Ding, S. (2013). Research on Axis Extraction Methods for Target\u2019s Attitude Measurement, National University of Defense Technology."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"997","DOI":"10.3788\/co.20150806.0997","article-title":"Attitude measurement method research for missile launch","volume":"8","author":"Zhang","year":"2015","journal-title":"Chin. Opt."},{"key":"ref_17","first-page":"12","article-title":"Measuring technology on elevation angle and yawing angle of space target based on optical measurement method","volume":"30","author":"Luo","year":"2007","journal-title":"J. Changchun Univ. Sci.Technol."},{"key":"ref_18","unstructured":"Wang, C. (2013). Study on Methods to Improve the Attitude Measurement Precision of the Rotary Object, University of Chinese Academy of Sciences (Institute of Optics and Electronics)."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"105508","DOI":"10.1016\/j.compag.2020.105508","article-title":"Three-dimensional perception of orchard banana central stock enhanced by adaptive multi-vision technology","volume":"174","author":"Chen","year":"2020","journal-title":"Comput. Electron. Agric."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"510","DOI":"10.3389\/fpls.2020.00510","article-title":"Recognition and localization methods for vision-based fruit picking robots: A review","volume":"11","author":"Tang","year":"2020","journal-title":"Front. Plant Sci."},{"key":"ref_21","unstructured":"Li, Y., Bo, Y., and Zhao, G. (2015, January 28\u201330). Survey of measurement of position and pose for space non-cooperative target. Proceedings of the IEEE 34th Chinese Control Conference (CCC), Hanghzou, China."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"236","DOI":"10.1016\/j.asr.2016.10.002","article-title":"Stereovision-based pose and inertia estimation of unknown and uncooperative space objects","volume":"59","author":"Pesce","year":"2017","journal-title":"Adv. Space Res."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"6360","DOI":"10.3390\/s150306360","article-title":"A model-based 3D template matching technique for pose acquisition of an uncooperative space object","volume":"15","author":"Opromolla","year":"2015","journal-title":"Sensors"},{"key":"ref_24","unstructured":"Yuan, Y. (2013). Research on Networked Videometrics for the Shape and Deformation of Large-Scale Structure, National University of Defense Technology."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"403","DOI":"10.1007\/BF02163027","article-title":"Singular value decomposition and least squares solutions","volume":"14","author":"Golub","year":"1970","journal-title":"Numerische Mathematik"},{"key":"ref_26","unstructured":"Madsen, K., Nielsen, H.B., and Tingleff, O. (2004). Methods for Non-Linear Least Squares Problems, Informatics and Mathematical Modelling, Technical University of Denmark. [2nd ed.]."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/2\/658\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T05:12:44Z","timestamp":1760159564000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/2\/658"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,1,19]]},"references-count":26,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2021,1]]}},"alternative-id":["s21020658"],"URL":"https:\/\/doi.org\/10.3390\/s21020658","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2021,1,19]]}}}