Singular Points in the Optical Center Distribution of P3P Solutions | |
Hu, Lihua1; Wang, Bo2; Zhang, Jifu1 | |
刊名 | MATHEMATICAL PROBLEMS IN ENGINEERING |
2015 | |
英文摘要 | Multisolution phenomenon is an important issue in P3P problem since, for many real applications, the question of how many solutions could possibly exist for a given P3P problem must at first be addressed before any real implementation. In this work we show that, given 3 control points, if the camera's optical center is close to one of the 3 toroids generated by rotating the circumcircle of the control point triangle around each one of its 3 sides, there is always an additional solution with its corresponding optical center lying in a small neighborhood of one of the control points, in addition to the original solution. In other words, there always exist at least two solutions for the P3P problem in such cases. Since, for all such additional solutions, their corresponding optical centers must lie in a small neighborhood of control points, the 3 control points constitute the singular points of the P3P solutions. The above result could act as some theoretical guide for P3P practitioners besides its academic value. |
WOS标题词 | Science & Technology ; Technology ; Physical Sciences |
类目[WOS] | Engineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications |
研究领域[WOS] | Engineering ; Mathematics |
关键词[WOS] | 3-POINT POSE PROBLEM ; VIEW |
收录类别 | SCI |
语种 | 英语 |
WOS记录号 | WOS:000358205600001 |
公开日期 | 2015-12-24 |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/10001] |
专题 | 自动化研究所_模式识别国家重点实验室_机器人视觉团队 |
作者单位 | 1.Taiyuan Univ Sci & Technol, Sch Comp Sci & Technol, Taiyuan 030024, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China |
推荐引用方式 GB/T 7714 | Hu, Lihua,Wang, Bo,Zhang, Jifu. Singular Points in the Optical Center Distribution of P3P Solutions[J]. MATHEMATICAL PROBLEMS IN ENGINEERING,2015. |
APA | Hu, Lihua,Wang, Bo,&Zhang, Jifu.(2015).Singular Points in the Optical Center Distribution of P3P Solutions.MATHEMATICAL PROBLEMS IN ENGINEERING. |
MLA | Hu, Lihua,et al."Singular Points in the Optical Center Distribution of P3P Solutions".MATHEMATICAL PROBLEMS IN ENGINEERING (2015). |
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