article

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

Authors:

Min TanAuthors Info & Claims

Image and Vision Computing, Volume 26, Issue 6

Pages 740 - 750

https://doi.org/10.1016/j.imavis.2007.08.008

Published: 01 June 2008 Publication History

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.

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Cited By

Xu MWang J(2023)Deep Reinforcement Learning for Parameter Tuning of Robot Visual ServoingACM Transactions on Intelligent Systems and Technology10.1145/357982914:2(1-27)Online publication date: 12-Jan-2023
https://dl.acm.org/doi/10.1145/3579829
Xu DLu JWang PZhang ZZhang DLiang Z(2016)A new image-based visual servoing method with rotational compensation2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)10.1109/ROBIO.2016.7866472(1099-1104)Online publication date: 3-Dec-2016
https://dl.acm.org/doi/10.1109/ROBIO.2016.7866472

Index Terms

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

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Information

Published In

cover image Image and Vision Computing

Image and Vision Computing Volume 26, Issue 6

June, 2008

140 pages

ISSN:0262-8856

Issue’s Table of Contents

Copyright © Elsevier B.V. © 2007.

Publisher

Butterworth-Heinemann

United States

Publication History

Published: 01 June 2008

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Cited By

Xu MWang J(2023)Deep Reinforcement Learning for Parameter Tuning of Robot Visual ServoingACM Transactions on Intelligent Systems and Technology10.1145/357982914:2(1-27)Online publication date: 12-Jan-2023
https://dl.acm.org/doi/10.1145/3579829
Xu DLu JWang PZhang ZZhang DLiang Z(2016)A new image-based visual servoing method with rotational compensation2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)10.1109/ROBIO.2016.7866472(1099-1104)Online publication date: 3-Dec-2016
https://dl.acm.org/doi/10.1109/ROBIO.2016.7866472

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