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Singular Points in the Optical Center Distribution of P3P Solutions
Hu, Lihua1; Wang, Bo2; Zhang, Jifu1
Source PublicationMATHEMATICAL PROBLEMS IN ENGINEERING
2015
SubtypeArticle
AbstractMultisolution 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 HeadingsScience & Technology ; Technology ; Physical Sciences
WOS Keyword3-POINT POSE PROBLEM ; VIEW
Indexed BySCI
Language英语
WOS Research AreaEngineering ; Mathematics
WOS SubjectEngineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications
WOS IDWOS:000358205600001
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/10001
Collection模式识别国家重点实验室_机器人视觉
Affiliation1.Taiyuan Univ Sci & Technol, Sch Comp Sci & Technol, Taiyuan 030024, Peoples R China
2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
Recommended Citation
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).
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