Lambda Twist: An Accurate Fast Robust Perspective Three Point (P3P) Solver
Lambda Twist: An Accurate Fast Robust Perspective Three Point (P3P) Solver
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Lambda Twist：准确、快速、鲁棒的透视三点 (P3P) 解算器
DOI：
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发表时间：
2018
期刊：
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通讯作者：
K. Nordberg
中科院分区：
文献类型：
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作者：
M. Persson;K. Nordberg
我们提出了Lambda Twist，一种新的P3P求解器，它是准确的，快速的和强大的。当前最先进的P3P求解器找到四次曲线的所有根，并在后处理步骤中丢弃几何无效和重复的解决方案。而不是解决一个四次，建议的P3P求解器利用基本的椭圆方程，可以解决一个快速和数值精确的对角化。这种对角化需要立方的单个真实的根，然后将其用于找到多达四个的P3P解。与直接四次求解器不同，我们的方法从不计算几何无效或重复的解决方案。
We present Lambda Twist; a novel P3P solver which is accurate, fast and robust. Current state-of-the-art P3P solvers find all roots to a quartic and discard geometrically invalid and duplicate solutions in a post-processing step. Instead of solving a quartic, the proposed P3P solver exploits the underlying elliptic equations which can be solved by a fast and numerically accurate diagonalization. This diagonalization requires a single real root of a cubic which is then used to find the, up to four, P3P solutions. Unlike the direct quartic solvers our method never computes geometrically invalid or duplicate solutions.