Author:
Michael Q. Rieck
Affiliation:
Drake University, United States
Keyword(s):
P3P: Perspective, Pose, Camera, Tracking, Danger Cylinder, Trigonometry, Solid Geometry.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Robotics
;
Software Engineering
;
Tracking and Visual Navigation
Abstract:
A new theorem in solid geometry is introduced and shown to be quite useful for solving the Perspective 3-Point Pose Problem (P3P) in the general vicinity of the danger cylinder. Also resulting from this is a criterion for partially deciding which mathematical solution is the correct physical solution. Simulations have demonstrated the greater accuracy of the new method for solving P3P, over a standard classical method, under the following condition. The distance from the camera’s optical center to the axis of the danger cylinder must be sufficiently small, compared with the distance from the optical center to the plane containing the control points.