摘要
PnP问题源于照相机检测 ,即根据给定空间n个点的相互位置关系 ,确定摄象机在空间的方位。以前的研究成果表明 ,对于给定的空间三点 ,最多可以出现四个解。本文针对不共面的四点透射(P4P)问题 ,利用Wu Ritt零点分解方法对问题进行分组分解 ,并经分析后得到了问题存在多解时的若干充分条件 。
The Perspective-n-Point(PNP) problem originates from camera calibration,and is also known as the determination of the position and orientation of the camera in the space according to the relationships of n corresponding points.From our previous research,we know that the equation system has at most four solutions with respect to three points. In this paper,we obtain some sufficient conditions with Wu-Ritt's decomposition method to decide the number of the solutions of nocoplanar P4P problems. With these conditions,we can easily avoid those perspective points that may produce multiple solutions.
出处
《计算机工程与科学》
CSCD
2004年第5期43-45,69,共4页
Computer Engineering & Science
