Revisiting the P3P Problem

Ding, Yaqing (author): Lund University,Lunds universitet,Matematik LTH,Matematikcentrum,Institutioner vid LTH,Lunds Tekniska Högskola,Datorseende och maskininlärning,Forskargrupper vid Lunds universitet,Mathematics (Faculty of Engineering),Centre for Mathematical Sciences,Departments at LTH,Faculty of Engineering, LTH,Computer Vision and Machine Learning,Lund University Research Groups

Larsson, Viktor (author): Lund University,Lunds universitet,Mathematical Imaging Group,Forskargrupper vid Lunds universitet,Matematik LTH,Matematikcentrum,Institutioner vid LTH,Lunds Tekniska Högskola,LTH profilområde: AI och digitalisering,LTH profilområden,Datorseende och maskininlärning,Lund University Research Groups,Mathematics (Faculty of Engineering),Centre for Mathematical Sciences,Departments at LTH,Faculty of Engineering, LTH,LTH Profile Area: AI and Digitalization,LTH Profile areas,Faculty of Engineering, LTH,Computer Vision and Machine Learning

Olsson, Carl (author): Lund University,Lunds universitet,Mathematical Imaging Group,Forskargrupper vid Lunds universitet,Matematik LTH,Matematikcentrum,Institutioner vid LTH,Lunds Tekniska Högskola,LTH profilområde: AI och digitalisering,LTH profilområden,Lund University Research Groups,Mathematics (Faculty of Engineering),Centre for Mathematical Sciences,Departments at LTH,Faculty of Engineering, LTH,LTH Profile Area: AI and Digitalization,LTH Profile areas,Faculty of Engineering, LTH

Åström, Kalle (author): Lund University,Lunds universitet,Mathematical Imaging Group,Forskargrupper vid Lunds universitet,Matematik LTH,Matematikcentrum,Institutioner vid LTH,Lunds Tekniska Högskola,LTH profilområde: AI och digitalisering,LTH profilområden,LTH profilområde: Teknik för hälsa,LU profilområde: Naturlig och artificiell kognition,Lunds universitets profilområden,LU profilområde: Naturbaserade framtidslösningar,Datorseende och maskininlärning,Lund University Research Groups,Mathematics (Faculty of Engineering),Centre for Mathematical Sciences,Departments at LTH,Faculty of Engineering, LTH,LTH Profile Area: AI and Digitalization,LTH Profile areas,Faculty of Engineering, LTH,LTH Profile Area: Engineering Health,Faculty of Engineering, LTH,LU Profile Area: Natural and Artificial Cognition,Lund University Profile areas,LU Profile Area: Nature-based future solutions,Computer Vision and Machine Learning

(creator_code:org_t)

2023
2023
English 9 s.
In: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition. - 9798350301298 ; , s. 4872-4880

Related links:: http://dx.doi.org/10...; show more...; https://lup.lub.lu.s...; https://doi.org/10.1...; show less...

Abstract Subject headings

One of the classical multi-view geometry problems is the so called P3P problem, where the absolute pose of a calibrated camera is determined from three 2D-to-3D correspondences. Since these solvers form a critical component of many vision systems (e.g. in localization and Structure-from-Motion), there have been significant effort in developing faster and more stable algorithms. While the current state-of-the-art solvers are both extremely fast and stable, there still exist configurations where they break down. In this paper we algebraically formulate the problem as finding the intersection of two conics. With this formulation we are able to analytically characterize the real roots of the polynomial system and employ a tailored solution strategy for each problem instance. The result is a fast and stable solver, that is able to correctly solve cases where competing methods might fail. Our experimental evaluation shows that we outperform the current state-of-the-art methods both in terms of speed and success rate.

By the author/editor: Ding, Yaqing; Yang, Jian; Larsson, Viktor; Olsson, Carl; Åström, Kalle

About the subject

NATURAL SCIENCES: NATURAL SCIENCES; and Computer and Inf ...; and Computer Vision ...

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