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Cited by 503

The DOI matches its Crossref record; 32 of the 32 references it cites were found in a registry or an index.

A Robust O(n) Solution to the Perspective-n-Point Problem

Li, Shiqi, Xu, Chi, Xie, Ming·2012·IEEE Transactions on Pattern Analysis and Machine Intelligence
DOI 10.1109/tpami.2012.41
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Abstract

We propose a noniterative solution for the Perspective-n-Point ({\rm P}n{\rm P}) problem, which can robustly retrieve the optimum by solving a seventh order polynomial. The central idea consists of three steps: 1) to divide the reference points into 3-point subsets in order to achieve a series of fourth order polynomials, 2) to compute the sum of the square of the polynomials so as to form a cost function, and 3) to find the roots of the derivative of the cost function in order to determine the optimum. The advantages of the proposed method are as follows: First, it can stably deal with the planar case, ordinary 3D case, and quasi-singular case, and it is as accurate as the state-of-the-art iterative algorithms with much less computational time. Second, it is the first noniterative {\rm P}n{\rm P} solution that can achieve more accurate results than the iterative algorithms when no redundant reference points can be used (n\le 5). Third, large-size point sets can be handled efficiently because its computational complexity is O(n).

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Metadata

Authors
Li, S., Xu, C., & Xie, M.
Venue
IEEE Transactions on Pattern Analysis and Machine Intelligence
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Published
2012-07
Volume
34
Issue
7
Pages
1444-1450
ISSN
  • 0162-8828 (ISSN-L)
  • 2160-9292
DOI
10.1109/tpami.2012.41
OpenAlex
W1984667320
Cited by
503
References
32
FWCI
13.77
Type
journal article
Language
en
Open access
closed

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