A general recursive linear method and unique solution pattern design for the perspective-n-point problem

CASIA OpenIR > 09年以前成果

	A general recursive linear method and unique solution pattern design for the perspective-n-point problem
	Xu, De1,2 ; Li, You Fu 1; 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	被引频次：38[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/173211/9646
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
第一作者单位	中国科学院自动化研究所
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.