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中文摘要：
文章首先用Pluker坐标表示3D直线；然后用重投影几何误差作为线特征三角法的目标函数，实现算法的最大似然估计；最后用线性和非线性两种方法分别实现空间直线的重建。在重投影时，考虑了每条直线投影时的尺度因子A，提高了重建精度。真实图像和仿真数据的实验结果表明，该方法能够准确有效地实现直线三维重建。
英文摘要：
Firstly, the PRicker coordinate is used to express the 3D line. Secondly, the geometric reprojection error is used as the objective function of line feature triangulation method, assuring the maximum likelihood estimation. At last, linear algorithm and non - linear algorithm are used to achieve 3D structure reconstruction. During the reprojection process, in light of the scale factor of each line, the reconstruction accuracy is improved. Experiment results of synthetic dates and real images demonstrate that the approach is accurate and effective.
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