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PnP problem revisited
Wu, YH; Hu, ZY
2006
发表期刊JOURNAL OF MATHEMATICAL IMAGING AND VISION
卷号24期号:1页码:131-141
文章类型Article
摘要Perspective-n-Point camera pose determination, or the PnP problem, has attracted much attention in the literature. This paper gives a systematic investigation on the PnP problem from both geometric and algebraic standpoints, and has the following contributions: Firstly, we rigorously prove that the PnP problem under distance-based definition is equivalent to the PnP problem under orthogonal-transformation-based definition when n > 3, and equivalent to the PnP problem under rotation-transformation-based definition when n = 3. Secondly, we obtain the upper bounds of the number of solutions for the PnP problem under different definitions. In particular, we show that for any three non-collinear control points, we can always find out a location of optical center such that the P3P problem formed by these three control points and the optical center can have 4 solutions, its upper bound. Additionally a geometric way is provided to construct these 4 solutions. Thirdly, we introduce a depth-ratio based approach to represent the solutions of the whole PnP problem. This approach is shown to be advantageous over the traditional elimination techniques. Lastly, degenerated cases for coplanar or collinear control points are also discussed. Surprisingly enough, it is shown that if all the control points are collinear, the PnP problem under distance-based definition has a unique solution, but the PnP problem under transformation-based definition is only determined up to one free parameter.
关键词Perspective-n-point Camera Pose Determination Distance-based Definition Transformation-based Definition Depth-ratio Based Equation Upper Bound Of The Number Of Solutions
WOS标题词Science & Technology ; Technology ; Physical Sciences
关键词[WOS]PERSPECTIVE-3-POINT PROBLEM ; POSE ESTIMATION ; EFFICIENT ; POINTS
收录类别SCI
语种英语
WOS研究方向Computer Science ; Mathematics
WOS类目Computer Science, Artificial Intelligence ; Computer Science, Software Engineering ; Mathematics, Applied
WOS记录号WOS:000235460400006
引用统计
被引频次:48[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/173211/9334
专题09年以前成果
作者单位Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100080, Peoples R China
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Wu, YH,Hu, ZY. PnP problem revisited[J]. JOURNAL OF MATHEMATICAL IMAGING AND VISION,2006,24(1):131-141.
APA Wu, YH,&Hu, ZY.(2006).PnP problem revisited.JOURNAL OF MATHEMATICAL IMAGING AND VISION,24(1),131-141.
MLA Wu, YH,et al."PnP problem revisited".JOURNAL OF MATHEMATICAL IMAGING AND VISION 24.1(2006):131-141.
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