A Robust O(n) Solution to the Perspective-n-Point Problem
We propose a noniterative solution for the Perspective-n-Point ({\rm P}n{\rm P}) problem, which can robustly retrieve the optimum by solving a seventh order polynomial. The central idea consists of three steps: 1) to divide the reference points into 3-point subsets in order to achieve a series of fo...
| Veröffentlicht in: | IEEE transactions on pattern analysis and machine intelligence. - 1979. - 34(2012), 7 vom: 20. Juli, Seite 1444-50 |
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| Format: | Online-Aufsatz |
| Sprache: | English |
| Veröffentlicht: |
2012
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| Zugriff auf das übergeordnete Werk: | IEEE transactions on pattern analysis and machine intelligence |
| Schlagworte: | Journal Article |
| Zusammenfassung: | We propose a noniterative solution for the Perspective-n-Point ({\rm P}n{\rm P}) problem, which can robustly retrieve the optimum by solving a seventh order polynomial. The central idea consists of three steps: 1) to divide the reference points into 3-point subsets in order to achieve a series of fourth order polynomials, 2) to compute the sum of the square of the polynomials so as to form a cost function, and 3) to find the roots of the derivative of the cost function in order to determine the optimum. The advantages of the proposed method are as follows: First, it can stably deal with the planar case, ordinary 3D case, and quasi-singular case, and it is as accurate as the state-of-the-art iterative algorithms with much less computational time. Second, it is the first noniterative {\rm P}n{\rm P} solution that can achieve more accurate results than the iterative algorithms when no redundant reference points can be used (n\le 5). Third, large-size point sets can be handled efficiently because its computational complexity is O(n) |
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| Beschreibung: | Date Completed 27.11.2015 Date Revised 10.09.2015 published: Print-Electronic Citation Status PubMed-not-MEDLINE |
| ISSN: | 1939-3539 |
| DOI: | 10.1109/TPAMI.2012.41 |