A robust O(n) solution to the perspective-n-point problem

• Main Authors: Li, Shiqi., Xu, Chi., Xie, Ming.
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2013
• Subjects: DRNTU::Engineering::Computer science and engineering::Computing methodologies::Pattern recognition
• Online Access: https://hdl.handle.net/10356/85423; http://hdl.handle.net/10220/13516

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 p...