Complete Solution Classification for the Perspective-Three-Point Problem

@article{Gao2003CompleteSC,
  title={Complete Solution Classification for the Perspective-Three-Point Problem},
  author={Xiao-Shan Gao and Xiaorong Hou and Jianliang Tang and Hang-Fei Cheng},
  journal={IEEE Trans. Pattern Anal. Mach. Intell.},
  year={2003},
  volume={25},
  pages={930-943}
}
In this paper, we use two approaches to solve the Perspective-Three-Point (P3P) problem: the algebraic approach and the geometric approach. In the algebraic approach, we use Wu-Ritt’s zero decomposition algorithm to give a complete triangular decomposition for the P3P equation system. This decomposition provides the first complete analytical solution to the P3P problem. We also give a complete solution classification for the P3P equation system, i.e., we give explicit criteria for the P3P… CONTINUE READING
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