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P3P问题的危险圆柱为什么是危险的

张彩霞 胡占义

张彩霞, 胡占义. P3P问题的危险圆柱为什么是危险的. 自动化学报, 2006, 32(4): 504-511.
引用本文: 张彩霞, 胡占义. P3P问题的危险圆柱为什么是危险的. 自动化学报, 2006, 32(4): 504-511.
ZHANG Cai-Xia, HU Zhan-Yi. Why is the Danger Cylinder Dangerous in the P3P Problem?. ACTA AUTOMATICA SINICA, 2006, 32(4): 504-511.
Citation: ZHANG Cai-Xia, HU Zhan-Yi. Why is the Danger Cylinder Dangerous in the P3P Problem?. ACTA AUTOMATICA SINICA, 2006, 32(4): 504-511.

P3P问题的危险圆柱为什么是危险的

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    通讯作者:

    张彩霞, 胡占义

    张彩霞, 胡占义

Why is the Danger Cylinder Dangerous in the P3P Problem?

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    Corresponding author: ZHANG Cai-Xia, HU Zhan-Yi; ZHANG Cai-Xia, HU Zhan-Yi
  • 摘要: The PnP problem is a widely used technique for pose determination in computer vision community, and finding out geometric conditions of multiple solutions is the ultimate and most desirable goal of the multi-solution analysis, which is also a key research issue of the problem. In this paper, we prove that given 3 control points, if the camera's optical center lies on the so-called"danger cylinder" and is enough far from the supporting plane of control points, the corresponding P3P problem must have 3 positive solutions. This result can bring some new insights into a better understanding of the multi-solution problem. For example, it is shown in the literature that the solution of the P3P problem is instable if the optical center lies on this danger cylinder, we think such occurrence of triple-solution is the primary source of this instability.
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出版历程
  • 收稿日期:  2005-03-31
  • 修回日期:  2006-03-01
  • 刊出日期:  2006-07-20

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