Closed Form Solution of Perspective 3-Point Problem (P3P) Based on Algebraic Resultant and SVD

Author

Zeng, Huaien

Author_Institution

Key Lab. of Geol. Hazards on Three Gorges Reservoir Area, China Three Gorges Univ., Yichang, China

fYear

2010

fDate

25-26 Dec. 2010

Firstpage

1

Lastpage

4

Abstract

Perspective 3-point problem (P3P) is one of the most fundamental issues in computer vision and photogrammetry. The paper puts forward the algebraic (multipolynomial) resultant to analytically determine the camera-point (camera projective center to control point) distances, and presents the closed form solution of camera position and orientation based on SVD. The numerical case study shows the approach is correct and efficient for the case of arbitrary pose angles image.

Keywords

cameras; computer vision; geometry; photogrammetry; polynomials; singular value decomposition; SVD; algebraic resultant; camera orientation; camera position; camera-point distances; closed form solution; computer vision; multipolynomial resultant; perspective 3-point problem; photogrammetry; singular value decomposition; Cameras; Closed-form solution; Mathematical model; Matrix decomposition; Polynomials; Quaternions;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Engineering and Computer Science (ICIECS), 2010 2nd International Conference on

Conference_Location

Wuhan

ISSN

2156-7379

Print_ISBN

978-1-4244-7939-9

Electronic_ISBN

2156-7379

Type

conf

DOI

10.1109/ICIECS.2010.5678137

Filename

5678137