An analytic solution for the perspective 4-point problem
Computer Vision, Graphics, and Image Processing
Mathematics for computer algebra
Mathematics for computer algebra
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
A complete symbolic-numeric linear method for camera pose determination
ISSAC '03 Proceedings of the 2003 international symposium on Symbolic and algebraic computation
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Journal of Mathematical Imaging and Vision
On the Probability of the Number of Solutions for the P4P Problem
Journal of Mathematical Imaging and Vision
Ideals, Varieties, and Algorithms: An Introduction to Computational Algebraic Geometry and Commutative Algebra, 3/e (Undergraduate Texts in Mathematics)
EPnP: An Accurate O(n) Solution to the PnP Problem
International Journal of Computer Vision
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part I
Polynomial Eigenvalue Solutions to Minimal Problems in Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
An Efficient Hidden Variable Approach to Minimal-Case Camera Motion Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
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We present a novel solution for the absolute camera pose and the camera calibration (effective focal length and aspect ratio) based on perspective four point (P4P) problem. By converting perspective transformation to affine transformation and using invariance to 3D affine transformation, we explore the relationship between the dual image of the absolute conic (DIAC) and the world coordinate of camera optical center and show how the coplanar and noncoplanar cases are cast into the problems of solving a quadratic polynomial equation and an eighth degree polynomial equation in a single variable respectively using only linear algebra. In particular, geometric configurations for infinite solutions of the coplanar case are explored. We also confirm the conclusion that the upper bound of eight real solutions for noncoplanar case is attainable by an example. The performance and usefulness of our novel solution are demonstrated by thorough testing on both synthetic and real data.