In this work, we present an algebraic solution to the classical perspective-3-point (P3P) problem for determining the position and attitude of a camera from observations of three known reference points. In contrast to previous approaches, we first directly determine the camera's attitude by employing the corresponding geometric constraints to formulate a system of trigonometric equations. This is then efficiently solved, following an algebraic approach, to determine the unknown rotation matrix and subsequently the camera's position. As compared to recent alternatives, our method avoids computing unnecessary (and potentially numerically unstable) intermediate results, and thus achieves higher numerical accuracy and robustness at a lower computational cost. These benefits are validated through extensive Monte-Carlo simulations for both nominal and closeto-singular geometric configurations.
|Original language||English (US)|
|Title of host publication||Proceedings - 30th IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2017|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||9|
|State||Published - Nov 6 2017|
|Event||30th IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2017 - Honolulu, United States|
Duration: Jul 21 2017 → Jul 26 2017
|Name||Proceedings - 30th IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2017|
|Other||30th IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2017|
|Period||7/21/17 → 7/26/17|
Bibliographical noteFunding Information:
This work was supported by the National Science Foundation (IIS-1328722).