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摘要: 研究表明,在P4P问题中,当空间4个点共面时,不仅摄像机坐标系与物体坐标系之间 的旋转矩阵R和平移向量t可以线性求解,而且可以同时确定摄像机的有效焦距f和像素比例 因子a.该结论似乎在文献中还没有过类似的报导.Abstract: In this short note, we show that in the P4P problem, if the 4 space points lie on a same plane, then besides the rotation matrix R and translation vector t from the object centered coordinate system to the camera centered coordinate system, the camera's effective focal length f and aspect ratio α can also be determined uniquely and simultaneously. To our knowledge, such a result did not appear in the literature previously.
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Key words:
- Object pose estimation /
- P4P problem
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