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Authors: Zhaozheng Hu 1 and Takashi Matsuyama 2

Affiliations: 1 Kyoto University and Dalian Maritime University, Japan ; 2 Kyoto University, Japan

ISBN: 978-989-8425-47-8

Keyword(s): Perspective-Three-Point (P3P), Support plane, Plane normal, Maximum likelihood.

Related Ontology Subjects/Areas/Topics: Computer Vision, Visualization and Computer Graphics ; Image and Video Analysis ; Motion, Tracking and Stereo Vision ; Stereo Vision and Structure from Motion ; Surface Geometry and Shape ; Visual Navigation

Abstract: This paper presents a new approach to solve the classic perspective-three-point (P3P) problem. The basic conception behind is to determine the support plane, which is defined by the three control points. Computation of the plane normal is formulated as searching for the maximum likelihood on the Gaussian hemisphere by exploiting the geometric constraints of three known angles and length ratios from the control points. The distances of the control points are then computed from the normal and the calibration matrix by homography decomposition. The proposed algorithm has been tested with real image data. The computation errors for the plane normal and the distances are less than 0.35 degrees, and 0.8cm, respectively, within 1~2m camera-to-plane distances. The multiple solutions to P3P problem are also illustrated.

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Paper citation in several formats:
Hu, Z. and Matsuyama, T. (2011). PERSPECTIVE-THREE-POINT (P3P) BY DETERMINING THE SUPPORT PLANE.In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011) ISBN 978-989-8425-47-8, pages 119-124. DOI: 10.5220/0003320301190124

@conference{visapp11,
author={Zhaozheng Hu. and Takashi Matsuyama.},
title={PERSPECTIVE-THREE-POINT (P3P) BY DETERMINING THE SUPPORT PLANE},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011)},
year={2011},
pages={119-124},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003320301190124},
isbn={978-989-8425-47-8},
}

TY - CONF

JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011)
TI - PERSPECTIVE-THREE-POINT (P3P) BY DETERMINING THE SUPPORT PLANE
SN - 978-989-8425-47-8
AU - Hu, Z.
AU - Matsuyama, T.
PY - 2011
SP - 119
EP - 124
DO - 10.5220/0003320301190124

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