Abstract
The perspective-n-point (PnP) problem is to find the position and orientation of a camera with respect to a scene object from n correspondence points and is a widely used technique for pose determination in the computer vision community. Finding out geometric conditions of multiple solutions is the ultimate and most desirable goal of the multi-solution analysis, a key research issue of the problem in the literature. In this paper, we study the multi-solution phenomenon of the P4P problem and give some necessary conditions under which there are five positive solutions for the P4P problem. Moreover, we give a geometric configuration for the five solutions.
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