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Singular Points in the Optical Center Distribution of P3P Solutions
Hu, Lihua1; Wang, Bo2; Zhang, Jifu1
2015
发表期刊MATHEMATICAL PROBLEMS IN ENGINEERING
文章类型Article
摘要Multisolution phenomenon is an important issue in P3P problem since, for many real applications, the question of how many solutions could possibly exist for a given P3P problem must at first be addressed before any real implementation. In this work we show that, given 3 control points, if the camera's optical center is close to one of the 3 toroids generated by rotating the circumcircle of the control point triangle around each one of its 3 sides, there is always an additional solution with its corresponding optical center lying in a small neighborhood of one of the control points, in addition to the original solution. In other words, there always exist at least two solutions for the P3P problem in such cases. Since, for all such additional solutions, their corresponding optical centers must lie in a small neighborhood of control points, the 3 control points constitute the singular points of the P3P solutions. The above result could act as some theoretical guide for P3P practitioners besides its academic value.
WOS标题词Science & Technology ; Technology ; Physical Sciences
关键词[WOS]3-POINT POSE PROBLEM ; VIEW
收录类别SCI
语种英语
WOS研究方向Engineering ; Mathematics
WOS类目Engineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications
WOS记录号WOS:000358205600001
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/10001
专题模式识别国家重点实验室_机器人视觉
作者单位1.Taiyuan Univ Sci & Technol, Sch Comp Sci & Technol, Taiyuan 030024, Peoples R China
2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
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Hu, Lihua,Wang, Bo,Zhang, Jifu. Singular Points in the Optical Center Distribution of P3P Solutions[J]. MATHEMATICAL PROBLEMS IN ENGINEERING,2015.
APA Hu, Lihua,Wang, Bo,&Zhang, Jifu.(2015).Singular Points in the Optical Center Distribution of P3P Solutions.MATHEMATICAL PROBLEMS IN ENGINEERING.
MLA Hu, Lihua,et al."Singular Points in the Optical Center Distribution of P3P Solutions".MATHEMATICAL PROBLEMS IN ENGINEERING (2015).
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