摘要
本文研究了计算机视觉中P4P问题的多解问题,运用几何方法,分析了P4P问题的多解现象,获得了P4P问题存在5个解的必要条件.
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. In this paper, we study the multi-solution phenomenon for the P4P problem by using geometric method and give some necessary conditions under which there are five positive solutions for the P4P problem.
出处
《数学杂志》
CSCD
北大核心
2006年第2期137-141,共5页
Journal of Mathematics
关键词
摄像机标定
摄像机位置估计
P4P问题
camera calibration
camera pose determination
perspective-four-point problem （P4P）
