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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
Source PublicationIMAGE AND VISION COMPUTING
2008-06-02
Volume26Issue:6Pages:740-750
SubtypeArticle
AbstractIn 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.
KeywordPerspective-n-point Problem Pattern Design Three-dimensional Sensing Pose Estimation Visual Positioning Recursive Least Square Solution Distribution Solution Stability
WOS HeadingsScience & Technology ; Technology ; Physical Sciences
WOS KeywordPOSE
Indexed BySCI
Language英语
WOS Research AreaComputer Science ; Engineering ; Optics
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Software Engineering ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic ; Optics
WOS IDWOS:000255887900002
Citation statistics
Cited Times:25[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9646
Collection09年以前成果
Affiliation1.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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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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