PnP problem revisited

CASIA OpenIR > 09年以前成果

	PnP problem revisited
	Wu, YH; Hu, ZY
发表期刊	JOURNAL OF MATHEMATICAL IMAGING AND VISION
	2006
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：102[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
推荐引用方式 GB/T 7714	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.