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A general recursive linear method and unique solution pattern design for the perspective-n-point problem
Xu, De1,2; Li, You Fu1; Tan, Min2
发表期刊IMAGE AND VISION COMPUTING
2008-06-02
卷号26期号:6页码:740-750
文章类型Article
摘要In this paper, a new method for solving the perspective-n-point (PnP) problem is developed. With an auxiliary point, the linear method for the special case of four coplanar points is extended to find the coarse solutions for the general P3P problem. A recursive least square algorithm with a forgetting factor is introduced to find all the accurate solutions for the P3P problem. Then the algorithm is extended to the general PnP problem. The solution stability issues are investigated for the P3P, P4P and P5P problem, respectively. Furthermore, a pattern is designed to ensure unique solution for the PnP problem. Experiments are performed to verify the effectiveness of the proposed method. (c) 2007 Elsevier B.V. All rights reserved.
关键词Perspective-n-point Problem Pattern Design Three-dimensional Sensing Pose Estimation Visual Positioning Recursive Least Square Solution Distribution Solution Stability
WOS标题词Science & Technology ; Technology ; Physical Sciences
关键词[WOS]POSE
收录类别SCI
语种英语
WOS研究方向Computer Science ; Engineering ; Optics
WOS类目Computer Science, Artificial Intelligence ; Computer Science, Software Engineering ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic ; Optics
WOS记录号WOS:000255887900002
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9646
专题09年以前成果
作者单位1.City Univ Hong Kong, Dept Mfg Engn & Engn Management, Kowloon, Hong Kong, Peoples R China
2.Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
推荐引用方式
GB/T 7714
Xu, De,Li, You Fu,Tan, Min. A general recursive linear method and unique solution pattern design for the perspective-n-point problem[J]. IMAGE AND VISION COMPUTING,2008,26(6):740-750.
APA Xu, De,Li, You Fu,&Tan, Min.(2008).A general recursive linear method and unique solution pattern design for the perspective-n-point problem.IMAGE AND VISION COMPUTING,26(6),740-750.
MLA Xu, De,et al."A general recursive linear method and unique solution pattern design for the perspective-n-point problem".IMAGE AND VISION COMPUTING 26.6(2008):740-750.
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