Name
Title | ||
|---|---|---|
A general recursive linear method and unique solution pattern design for the perspective-n-point problem |
Abstract | ||
|---|---|---|
In this paper, a new method for solving the perspective-n-point (PnP) problem is developed. With an auxiliary point, the linear method for the special case of four coplanar points is extended to find the coarse solutions for the general P3P problem. A recursive least square algorithm with a forgetting factor is introduced to find all the accurate solutions for the P3P problem. Then the algorithm is extended to the general PnP problem. The solution stability issues are investigated for the P3P, P4P and P5P problem, respectively. Furthermore, a pattern is designed to ensure unique solution for the PnP problem. Experiments are performed to verify the effectiveness of the proposed method. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1016/j.imavis.2007.08.008 | Image Vision Comput. |
Keywords | Field | DocType |
three-dimensional sensing,linear method,p3p problem,pose estimation,recursive least square,perspective- n -point problem,unique solution pattern design,p5p problem,perspective-n-point problem,pnp problem,general pnp problem,solution stability,accurate solution,solution stability issue,visual positioning,new method,solution distribution,coarse solution,pattern design,general recursive linear method,three dimensional | Linear methods,Mathematical optimization,Forgetting factor,Pattern recognition,Algorithm,Pose,Coplanarity,Least mean square algorithm,Artificial intelligence,Recursion,Mathematics,Special case | Journal |
Volume | Issue | ISSN |
26 | 6 | Image and Vision Computing |
Citations | PageRank | References |
10 | 0.75 | 16 |
Authors | ||
3 | ||