An efficient solution to the perspective-three-point pose problem
P Wang, G Xu, Z Wang, Y Cheng - Computer Vision and Image …, 2018 - Elsevier
In this paper, we present a new algebraic method to solve the perspective-three-point (P3P)
problem, which directly computes the rotation and position of a camera in the world frame
without the intermediate derivation of the points in the camera frame. Unlike other online
methods, the proposed method uses an “object” coordinate frame, in which the known 3D
coordinates are sparse, facilitating formulations of the P3P problem. Additionally, two
auxiliary variables are introduced to parameterize the rotation and position matrix, and then …
problem, which directly computes the rotation and position of a camera in the world frame
without the intermediate derivation of the points in the camera frame. Unlike other online
methods, the proposed method uses an “object” coordinate frame, in which the known 3D
coordinates are sparse, facilitating formulations of the P3P problem. Additionally, two
auxiliary variables are introduced to parameterize the rotation and position matrix, and then …
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