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231224s2012 xx |||||o 00| ||eng c |
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|a 10.1109/TPAMI.2012.41
|2 doi
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|a eng
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|a Li, Shiqi
|e verfasserin
|4 aut
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|a A Robust O(n) Solution to the Perspective-n-Point Problem
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|c 2012
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|a Text
|b txt
|2 rdacontent
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|a ƒaComputermedien
|b c
|2 rdamedia
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|a ƒa Online-Ressource
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|2 rdacarrier
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|a Date Completed 27.11.2015
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|a Date Revised 10.09.2015
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|a published: Print-Electronic
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|a Citation Status PubMed-not-MEDLINE
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|a 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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|a Journal Article
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|a Xu, Chi
|e verfasserin
|4 aut
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| 700 |
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|a Xie, Ming
|e verfasserin
|4 aut
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|i Enthalten in
|t IEEE transactions on pattern analysis and machine intelligence
|d 1979
|g 34(2012), 7 vom: 20. Juli, Seite 1444-50
|w (DE-627)NLM098212257
|x 1939-3539
|7 nnns
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|g volume:34
|g year:2012
|g number:7
|g day:20
|g month:07
|g pages:1444-50
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|u http://dx.doi.org/10.1109/TPAMI.2012.41
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|d 34
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