A simple, robust and fast method for the perspective-n-point Problem
A simple, robust and fast method for the perspective-n-point Problem
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DOI：
10.1016/j.patrec.2018.02.028
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发表时间：
2018-06-01
影响因子：
5.1
通讯作者：
Yu, Qida
中科院分区：
文献类型：
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作者：
Wang, Ping;Xu, Guili;Yu, Qida
在这项工作中，我们提出了一种简单，鲁棒和快速的方法来解决从已知参考点确定校准相机的位置和方向的视角-n点（PnP）问题。我们的方法将姿态估计问题转化为最优问题，只需要分别求解一个七阶和一个四阶单变量多项式，使得过程更容易理解，显著提高了性能。此外，所提方法的解的数量比现有方法少得多。实验结果表明，该方法可以稳定地处理所有三维点构型，包括普通三维情况、拟奇异情况和平面情况，其精度与现有方法相当或更好，但计算成本大大降低。(C) 2018 Elsevier B.V.版权所有
In this work, we present a simple, robust and fast method to the perspective-n-point (PnP) problem for determining the position and orientation of a calibrated camera from known reference points. Our method transfers the pose estimation problem into an optimal problem, and only needs to solve a seventh-order and a fourth-order univariate polynomial, respectively, which makes the processes more easily understood and significantly improves the performance. Additionally, the number of solutions of the proposed method is substantially smaller than existing methods. Experiment results show that the proposed method can stably handle all 3D point configurations, including the ordinary 3D case, the quasi-singular case, and the planar case, and it offers accuracy comparable or better than that of the state-of-art methods, but at much lower computational cost. (C) 2018 Elsevier B.V. All rights reserved.