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

	A general recursive linear method and unique solution pattern design for the perspective-n-point problem
	Xu, De1,2 ; Li, You Fu 1; Tan, Min2
刊名	IMAGE AND VISION COMPUTING
	2008-06-02
卷号	26 期号:6 页码:740-750
关键词	perspective-n-point problem pattern design three-dimensional sensing pose estimation visual positioning recursive least square solution distribution solution stability
英文摘要	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. (c) 2007 Elsevier B.V. All rights reserved.
WOS标题词	Science & Technology ; Technology ; Physical Sciences
类目[WOS]	Computer Science, Artificial Intelligence ; Computer Science, Software Engineering ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic ; Optics
研究领域[WOS]	Computer Science ; Engineering ; Optics
关键词[WOS]	POSE
收录类别	SCI
语种	英语
WOS记录号	WOS:000255887900002
公开日期	2015-12-24
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/9646]
专题	自动化研究所_09年以前成果
作者单位	1.City Univ Hong Kong, Dept Mfg Engn & Engn Management, Kowloon, Hong Kong, Peoples R China 2.Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
推荐引用方式 GB/T 7714	Xu, De,Li, You Fu,Tan, Min. A general recursive linear method and unique solution pattern design for the perspective-n-point problem[J]. IMAGE AND VISION COMPUTING,2008,26(6):740-750.
APA	Xu, De,Li, You Fu,&Tan, Min.(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.
MLA	Xu, De,et al."A general recursive linear method and unique solution pattern design for the perspective-n-point problem".IMAGE AND VISION COMPUTING 26.6(2008):740-750.