A general recursive linear method and unique solution pattern design for the perspective-n-point problem

De Xu; You Fu Li; Min Tan

doi:10.1016/j.imavis.2007.08.008

Author(s)

De Xu
You Fu Li
Min Tan

Detail(s)

Original language	English
Pages (from-to)	740-750
Journal / Publication	Image and Vision Computing
Volume	26
Issue number	6
Publication status	Published - 2 Jun 2008

Link(s)

DOI	DOI https://doi.org/10.1016/j.imavis.2007.08.008 Final Published version
	Check@CityULib
Link to Scopus	https://www.scopus.com/record/display.uri?eid=2-s2.0-40949159761&origin=recordpage
Permanent Link	https://scholars.cityu.edu.hk/en/publications/publication(96613917-7d4b-449e-85b4-91884e6849c1).html

Abstract

In this paper, a new method for solving the perspective-n-point (PnP) problem is developed. With an auxiliary point, the linear method for the special case of four coplanar points is extended to find the coarse solutions for the general P3P problem. A recursive least square algorithm with a forgetting factor is introduced to find all the accurate solutions for the P3P problem. Then the algorithm is extended to the general PnP problem. The solution stability issues are investigated for the P3P, P4P and P5P problem, respectively. Furthermore, a pattern is designed to ensure unique solution for the PnP problem. Experiments are performed to verify the effectiveness of the proposed method. © 2007 Elsevier B.V. All rights reserved.

Research Area(s)

Pattern design, Perspective-n-point problem, Pose estimation, Recursive least square, Solution distribution, Solution stability, Three-dimensional sensing, Visual positioning

Citation Format(s)

[ RIS ] [ BibTeX ]

A general recursive linear method and unique solution pattern design for the perspective-n-point problem. / Xu, De; Li, You Fu; Tan, Min.
In: Image and Vision Computing, Vol. 26, No. 6, 02.06.2008, p. 740-750.

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

Xu, D, Li, YF & Tan, M 2008, 'A general recursive linear method and unique solution pattern design for the perspective-n-point problem', Image and Vision Computing, vol. 26, no. 6, pp. 740-750. https://doi.org/10.1016/j.imavis.2007.08.008

Xu, D., Li, Y. F., & Tan, M. (2008). A general recursive linear method and unique solution pattern design for the perspective-n-point problem. Image and Vision Computing, 26(6), 740-750. https://doi.org/10.1016/j.imavis.2007.08.008

Xu D, Li YF, Tan M. A general recursive linear method and unique solution pattern design for the perspective-n-point problem. Image and Vision Computing. 2008 Jun 2;26(6):740-750. doi: 10.1016/j.imavis.2007.08.008

Xu, De ; Li, You Fu ; Tan, Min. / A general recursive linear method and unique solution pattern design for the perspective-n-point problem. In: Image and Vision Computing. 2008 ; Vol. 26, No. 6. pp. 740-750.