期刊
INTERNATIONAL JOURNAL OF PATTERN RECOGNITION AND ARTIFICIAL INTELLIGENCE
卷 25, 期 5, 页码 627-642出版社
WORLD SCIENTIFIC PUBL CO PTE LTD
DOI: 10.1142/S0218001411008774
关键词
Perspective-three-point problem (P3P); camera pose estimation; geometric singularity
The perspective-three-point problem (P3P) is a classical problem in computer vision. The existing direct solutions of P3P have at least three limitations: (1) the numerical instability when using different vertex permutations, (2) the degeneration in the geometric singularity case, and (3) the dependence on particular equation solvers. A new direct solution of P3P is presented to deal with these limitations. The main idea is to reduce the number of unknown parameters by using a geometric constraint we called perspective similar triangle (PST). The PST method achieves high stability in the permutation problem and in the presence of image noise, and does not rely on particular equation solvers. Furthermore, reliable results can be retrieved even in danger cylinder, a typical kind of geometric singularity of P3P, where all existing direct solutions degenerate significantly.
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