Abstract
In the field of machine vision, the multi-solution problem of the perspective-three-point (P3P) camera pose estimation problem has been widely researched. Many researchers have tried to find unique solutions that will enable the use of the P3P method in practical applications such as the calibration of external parameters of a camera. Gao found a special case that is very simple and intuitive, but can only be used for a camera with a very large field of view. Therefore, it did not attract much attention. The purpose of this study was to analyse Gao's special case and use it for calibrating the external parameters of an omnidirectional camera, which is used widely because of its very large field of view. We first verify Gao's special case and extend its application. We then propose an iterative method for finding the unique solution. After this, we perform a simulation experiment to determine the effect of the configuration of the three control points on the accuracy of the unique solution. Finally, we use an application to examine the efficiency of the method.
Highlights
Determining the pose of a camera given the images of three known points in a 3D space is the classical perspective‐three‐point (P3P) problem [1], which is a sub‐problem of the perspective‐n‐point problem
The two criteria used to determine whether a P3P problem has a special unique solution case are as follows: (1) whether it is an obtuse P3P problem and (2) whether it satisfies the conditions of result 2
We proposed a method to determine a unique solution
Summary
Determining the pose of a camera given the images of three known points in a 3D space is the classical perspective‐three‐point (P3P) problem [1], which is a sub‐problem of the perspective‐n‐point problem. It has gained the most attention because it requires the least number of points of correspondence. It can be used to obtain the original value for pose estimation using nonlinear refining methods. A drawback of the P3P method is the well‐known multi‐solution problem [1]. There are at most four possible positive solutions to the www.intechopen.com
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