dc.contributor.author Li, Shiqi. dc.contributor.author Xu, Chi. dc.contributor.author Xie, Ming. dc.date.accessioned 2013-09-18T03:18:43Z dc.date.available 2013-09-18T03:18:43Z dc.date.copyright 2012 en_US dc.date.issued 2012 dc.identifier.citation Li, S., Xu, C., & Xie, M. (2012). A robust O(n) solution to the perspective-n-point problem. IEEE transactions on pattern analysis and machine intelligence, 34(7), 1444-1450. dc.identifier.issn 0162-8828 en_US dc.identifier.uri http://hdl.handle.net/10220/13516 dc.description.abstract We propose a noniterative solution for the Perspective-n-Point (PnP) problem, which can robustly retrieve the optimum by solving a seventh order polynomial. The central idea consists of three steps: 1) to divide the reference points into 3-point subsets in order to achieve a series of fourth order polynomials, 2) to compute the sum of the square of the polynomials so as to form a cost function, and 3) to find the roots of the derivative of the cost function in order to determine the optimum. The advantages of the proposed method are as follows: First, it can stably deal with the planar case, ordinary 3D case, and quasi-singular case, and it is as accurate as the state-of-the-art iterative algorithms with much less computational time. Second, it is the first noniterative PnP solution that can achieve more accurate results than the iterative algorithms when no redundant reference points can be used (n≤ 5). Third, large-size point sets can be handled efficiently because its computational complexity is O(n). en_US dc.language.iso en en_US dc.relation.ispartofseries IEEE transactions on pattern analysis and machine intelligence en_US dc.rights © 2012 IEEE en_US dc.subject DRNTU::Engineering::Computer science and engineering::Computing methodologies::Pattern recognition dc.title A robust O(n) solution to the perspective-n-point problem en_US dc.type Journal Article dc.contributor.school School of Mechanical and Aerospace Engineering en_US dc.identifier.doi http://dx.doi.org/10.1109/TPAMI.2012.41
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