An analytic solution for the perspective 4-point problem
Computer Vision, Graphics, and Image Processing
The Perspective View of Three Points
IEEE Transactions on Pattern Analysis and Machine Intelligence
Exact and Approximate Solutions of the Perspective-Three-Point Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Uniqueness of Solutions to Three Perspective Views of Four Points
IEEE Transactions on Pattern Analysis and Machine Intelligence
Linear N-Point Camera Pose Determination
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
New algorithms for the perspective-three-point problem
Journal of Computer Science and Technology
3-D Pose from 3 Points Using Weak-Perspective
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Note on the Number of Solutions of the Noncoplanar P4P Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Complete Solution Classification for the Perspective-Three-Point Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
An efficient two-step solution for vision-based pose determination of a parallel manipulator
Robotics and Computer-Integrated Manufacturing
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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.