Basic principles of mechanical theorem proving in elementary geometrics
Journal of Automated Reasoning
An analytic solution for the perspective 4-point problem
Computer Vision, Graphics, and Image Processing
Parallel calculation of 3-D pose of a known object in a single view
Pattern Recognition Letters
Exact and Approximate Solutions of the Perspective-Three-Point Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Algorithmic algebra
Model-based object pose in 25 lines of code
International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
Linear N-Point Camera Pose Determination
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
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
Linear Pose Estimation from Points or Lines
IEEE Transactions on Pattern Analysis and Machine Intelligence
A complete symbolic-numeric linear method for camera pose determination
ISSAC '03 Proceedings of the 2003 international symposium on Symbolic and algebraic computation
Complete Solution Classification for the Perspective-Three-Point Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
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The perspective-n-point (PnP) problem is to find the position and orientation of a camera with respect to a scene object from n correspondence points and is a widely used technique for pose determination in the computer vision community. Finding out geometric conditions of multiple solutions is the ultimate and most desirable goal of the multi-solution analysis, a key research issue of the problem in the literature. In this paper, we study the multi-solution phenomenon of the P4P problem and give some necessary conditions under which there are five positive solutions for the P4P problem. Moreover, we give a geometric configuration for the five solutions.