An Analytic Solution for the Perspective 4-Point ProblemReport as inadecuate

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1 LIFIA - Laboratoire d-Informatique Fondamentale et d-Intelligence Artificielle 2 MOVI - Modeling, localization, recognition and interpretation in computer vision GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71 3 TIM3

Abstract : The perspective n-point PnP problem is the problem of finding the position and orientation of a camera with respect to a scene object from n correspondence points. The authors propose an analytic solution for the perspective 4-point problem. The solution is found by replacing the four points with a pencil of three lines and by exploring the geometric constraints available with the perspective camera model. The P4P problem is cast into the problem of solving a biquadratic polynomial equation in one unknown.

Keywords : exterior camera calibration 3D object recognition location determination visual navigation

Author: Radu Horaud - Bernard Conio - Olivier Leboulleux - Bernard Lacolle -



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