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Title: A robust O(n) solution to the perspective-n-point problem
Authors: Li, Shiqi.
Xu, Chi.
Xie, Ming.
Keywords: DRNTU::Engineering::Computer science and engineering::Computing methodologies::Pattern recognition
Issue Date: 2012
Source: 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.
Series/Report no.: IEEE transactions on pattern analysis and machine intelligence
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).
ISSN: 0162-8828
DOI: 10.1109/TPAMI.2012.41
Rights: © 2012 IEEE
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:MAE Journal Articles

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