为了解决工业视觉场景中点和直线段共存情况下的多摄像机位姿估计问题，提出了基于点线特征对应的多摄像机全局位姿估计算法.以正交迭代算法为基础，使用多个固定在平台上的已标定摄像机间的几何约束，以全局方式处理多摄像机的重叠和非重叠视图的点和直线段特征，获得更加稳定精确的位姿估计.该算法先把所有摄像机数据进行统一表达，再把摄像机观测到的全部点特征的目标空间共线性误差和直线段特征的目标空间共面性误差之和作为误差函数，最后经数学推导得到使该误差函数最小化的迭代求解过程.实验结果验证了该算法的有效性以及优越性.

To solve multi-camera pose estimation problem with the coexistence of point and line segment under the industry visual scene, a new pose estimation algorithm for multi-camera from point and line correspondences is proposed. The method uses geometric restriction between multiple calibrated cameras, and globally processes point and line segment feature from overlapping and non-overlapping views of multi-camera rig, finally obtains more robust and accurate pose estimation. In the proposed method, the formulation of datum of multiple cameras is unfined, and the sum of object-space collinearity error of point and coplanarity error of line segment all cameras are used as error function. Finally, an iterative algorithm is developed to minimize the error function. The experimental results prove the effectiveness and superiority of the algorithm for pose estimation.