Abstract
The perspective n-point (P nP) problems is the problem of dinding the position and orientation of a camera with respect to a scene object from n correspondence points. In this paper we 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. We show how the P4P problem is cast into the problem of solving a biquadratic polynomial in one unknown. Although developed as part of an object recognition from a single view system [6], the solution migth well be used for hand-eye coordination, landmark-guided navigation, and for fast determination of exterior camera parameters in general.
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