TY - GEN
T1 - A Direct Least-Squares (DLS) method for PnP
AU - Hesch, Joel A.
AU - Roumeliotis, Stergios I.
PY - 2011/12/1
Y1 - 2011/12/1
N2 - In this work, we present a Direct Least-Squares (DLS) method for computing all solutions of the perspective-n-point camera pose determination (PnP) problem in the general case (n ≥ 3). Specifically, based on the camera measurement equations, we formulate a nonlinear least-squares cost function whose optimality conditions constitute a system of three third-order polynomials. Subsequently, we employ the multiplication matrix to determine all the roots of the system analytically, and hence all minima of the LS, without requiring iterations or an initial guess of the parameters. A key advantage of our method is scalability, since the order of the polynomial system that we solve is independent of the number of points. We compare the performance of our algorithm with the leading PnP approaches, both in simulation and experimentally, and demonstrate that DLS consistently achieves accuracy close to the Maximum-Likelihood Estimator (MLE).
AB - In this work, we present a Direct Least-Squares (DLS) method for computing all solutions of the perspective-n-point camera pose determination (PnP) problem in the general case (n ≥ 3). Specifically, based on the camera measurement equations, we formulate a nonlinear least-squares cost function whose optimality conditions constitute a system of three third-order polynomials. Subsequently, we employ the multiplication matrix to determine all the roots of the system analytically, and hence all minima of the LS, without requiring iterations or an initial guess of the parameters. A key advantage of our method is scalability, since the order of the polynomial system that we solve is independent of the number of points. We compare the performance of our algorithm with the leading PnP approaches, both in simulation and experimentally, and demonstrate that DLS consistently achieves accuracy close to the Maximum-Likelihood Estimator (MLE).
UR - http://www.scopus.com/inward/record.url?scp=84856659098&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84856659098&partnerID=8YFLogxK
U2 - 10.1109/ICCV.2011.6126266
DO - 10.1109/ICCV.2011.6126266
M3 - Conference contribution
AN - SCOPUS:84856659098
SN - 9781457711015
T3 - Proceedings of the IEEE International Conference on Computer Vision
SP - 383
EP - 390
BT - 2011 International Conference on Computer Vision, ICCV 2011
T2 - 2011 IEEE International Conference on Computer Vision, ICCV 2011
Y2 - 6 November 2011 through 13 November 2011
ER -