An analytic solution for the perspective 4-point problem
Computer Vision, Graphics, and Image Processing
Determination of the Attitude of 3D Objects from a Single Perspective View
IEEE Transactions on Pattern Analysis and Machine Intelligence
Determining camera parameters from the perspective projection of a rectangle
Pattern Recognition
The Perspective View of Three Points
IEEE Transactions on Pattern Analysis and Machine Intelligence
Determining camera parameters from the perspective projection of a quadrilateral
Pattern Recognition
Error Guided Design of a 3D Vision System
IEEE Transactions on Pattern Analysis and Machine Intelligence
Pose estimation using four corresponding points
Pattern Recognition Letters
Multiple view geometry in computer vision
Multiple view geometry in computer vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Linear N = 4-Point Pose Determination
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
A complete symbolic-numeric linear method for camera pose determination
ISSAC '03 Proceedings of the 2003 international symposium on Symbolic and algebraic computation
Journal of Mathematical Imaging and Vision
On the Probability of the Number of Solutions for the P4P Problem
Journal of Mathematical Imaging and Vision
Camera calibration based on receptive fields
Pattern Recognition
Pose determination and plane measurement using a trapezium
Pattern Recognition Letters
Single view based pose estimation from circle or parallel lines
Pattern Recognition Letters
Image and Vision Computing
Proceedings of the twenty-first international symposium on Symbolic and algebraic computation
An immune evolutionary algorithm based pose estimation method for parallel manipulator
Proceedings of the first ACM/SIGEVO Summit on Genetic and Evolutionary Computation
Pose estimation from circle or parallel lines in a single image
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part II
An efficient two-step solution for vision-based pose determination of a parallel manipulator
Robotics and Computer-Integrated Manufacturing
Hybrid method for solving new pose estimation equation system
IWMM'04/GIAE'04 Proceedings of the 6th international conference on Computer Algebra and Geometric Algebra with Applications
Some necessary conditions on the number of solutions for the P4P problem
IWMM'04/GIAE'04 Proceedings of the 6th international conference on Computer Algebra and Geometric Algebra with Applications
Camera pose estimation using first-order curve differential geometry
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part IV
A Novel Solution to the P4P Problem for an Uncalibrated Camera
Journal of Mathematical Imaging and Vision
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In the literature, the PnP problem is indistinguishably defined as either to determine the distances of the control points from the camera's optical center or to determine the transformation matrices from the object-centered frame to the camera-centered frame. In this paper, we show that these two definitions are generally not equivalent. In particular, we prove that, if the four control points are not coplanar, the upper bound of the P4P problem under the distance-based definition is 5 and also attainable, whereas the upper bound of the P4P problem under the transformation-based definition is only 4. Finally, we study the conditions under which at least two, three, four, and five different positive solutions exist in the distance based noncoplanar P4P problem.