The DOI matches its Crossref record; 14 of the 14 references it cites were found in a registry or an index.
A Direct Least-Squares (DLS) method for PnP
Abstract
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).
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Cites
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Bundle Adjustment — A Modern Synthesis
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EPnP: An Accurate O(n) Solution to the PnP Problem
Lepetit, V., Moreno-Noguer, F., & Fua, P. (2009) · International Journal of Computer Vision · doi:10.1007/s11263-008-0152-6 · Cited by 3,298
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Complete solution classification for the perspective-three-point problem
Gao, X.-S., Hou, X.-R., Tang, J., & Cheng, H.-F. (2003) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2003.1217599 · Cited by 976
Fitting parameterized three-dimensional models to images
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Hand-Eye Calibration Using Dual Quaternions
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Linear N-point camera pose determination
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Review and analysis of solutions of the three point perspective pose estimation problem
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Pose estimation from corresponding point data
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Openface 2.0: facial behavior analysis toolkit
Baltrusaitis, T., Zadeh, A., Lim, Y. C., & Morency, L.-P. (2018) · 2018 13th IEEE International Conference on Automatic Face & Gesture Recognition (FG 2018) · doi:10.1109/fg.2018.00019 · Cited by 1,861
Opromolla, R., Fasano, G., Rufino, G., & Grassi, M. (2017) · Progress in Aerospace Sciences · doi:10.1016/j.paerosci.2017.07.001 · Cited by 330
Kwon, H., Tong, C., Haresamudram, H., Gao, Y., Abowd, G. D., Lane, N. D., & Ploetz, T. (2020) · arXiv · doi:10.48550/arxiv.2006.05675 · Cited by 14
Metadata
- Authors
- Hesch, J. A., & Roumeliotis, S. I.
- Venue
- 2011 International Conference on Computer Vision
- Publisher
- IEEE
- Published
- 2011-11
- Pages
- 383-390
- OpenAlex
- W2096758544
- Cited by
- 373
- References
- 14
- FWCI
- 7.41
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Hesch, J. A., & Roumeliotis, S. I. (2011). A Direct Least-Squares (DLS) method for PnP. 2011 International Conference on Computer Vision. https://doi.org/10.1109/iccv.2011.6126266
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