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An Analytic Solution for the Perspective 4-Point Problem

Radu Horaud 1, 2 Bernard Conio 1 Olivier Leboulleux 1 Bernard Lacolle 3
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
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.
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https://hal.inria.fr/inria-00589992
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Submitted on : Thursday, June 16, 2011 - 2:44:48 PM
Last modification on : Wednesday, April 11, 2018 - 1:53:26 AM
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Radu Horaud, Bernard Conio, Olivier Leboulleux, Bernard Lacolle. An Analytic Solution for the Perspective 4-Point Problem. Proceedings Computer Vision and Pattern Recognition, Jun 1989, San-Diego, United States. pp.500--507, ⟨10.1109/CVPR.1989.37893⟩. ⟨inria-00589992⟩

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