Singular Points in the Optical Center Distribution of P3P Solutions

	Singular Points in the Optical Center Distribution of P3P Solutions
	Hu, Lihua 1; Wang, Bo2 ; Zhang, Jifu 1
发表期刊	MATHEMATICAL PROBLEMS IN ENGINEERING
	2015
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	多模态人工智能系统全国重点实验室_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
推荐引用方式 GB/T 7714	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).