An Analytic Solution for the Perspective 4-Point Problem

Radu Horaud (1, 2) , Bernard Conio (1) , Olivier Leboulleux (1) , Bernard Lacolle (3)

1 LIFIA - Laboratoire d'Informatique Fondamentale et d'Intelligence Artificielle
2 MOVI - Modeling, localization, recognition and interpretation in computer vision
3 TIM3

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

Domains: Graphics [cs.GR]

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⟩