Complete solution classification for the Perspective-Three-Point problem

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	Complete solution classification for the Perspective-Three-Point problem
	Gao, XS ; Hou, XR ; Tang, JL ; Cheng, HF
	2003-08-01
发表期刊	IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE
ISSN	0162-8828
卷号	25 期号:8 页码:930-943
摘要	In this paper, we use two approaches to solve the Perspective-Three-Point (P3P) problem: the algebraic approach and the geometric approach. In the algebraic approach, we use Wu-Ritt's zero decomposition algorithm to give a complete triangular decomposition for the P3P equation system. This decomposition provides the first complete analytical solution to the P3P problem. We also give a complete solution classification for the P3P equation system, i.e., we give explicit criteria for the P3P problem to have one, two, three, and four solutions. Combining the analytical solutions with the criteria, we provide an algorithm, CASSC, which may be used to find complete and robust numerical solutions to the P3P problem. In the geometric approach, we give some pure geometric criteria for the number of real physical solutions.
关键词	Perspective-Three-Point problem pose determination analytical solutions solution classification geometric criteria Wu-Ritt's zero decomposition method
语种	英语
WOS研究方向	Computer Science ; Engineering
WOS类目	Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic
WOS记录号	WOS:000184249800001
出版者	IEEE COMPUTER SOC
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/19023
专题	中国科学院数学与系统科学研究院
通讯作者	Gao, XS
作者单位	1.Acad Sinica, AMSS, Inst Syst Sci, Beijing 100080, Peoples R China 2.NingBo Univ, Inst Computat Math, Ningbo 315211, Peoples R China 3.Penn State Univ, Dept Math, University Pk, PA 16802 USA
推荐引用方式 GB/T 7714	Gao, XS,Hou, XR,Tang, JL,et al. Complete solution classification for the Perspective-Three-Point problem[J]. IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE,2003,25(8):930-943.
APA	Gao, XS,Hou, XR,Tang, JL,&Cheng, HF.(2003).Complete solution classification for the Perspective-Three-Point problem.IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE,25(8),930-943.
MLA	Gao, XS,et al."Complete solution classification for the Perspective-Three-Point problem".IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE 25.8(2003):930-943.