2017/01/28 by Tong Ke, Ke, Tong, Stergios I. Roumeliotis +1 · 1 citation
Engineering · #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Inertial Sensor and Navigation #Robotics and Sensor-Based Localization #Satellite Image Processing and Photogrammetry
paper · pdf · doi:10.48550/arxiv.1701.08237
openalex publication_date 2017/01/28 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this work, we present an algebraic solution to the classical perspective-3-point (P3P) problem for determining the position and attitude of a camera from observations of three known reference points. In contrast to previous approaches, we first directly determine the camera's attitude by employing the corresponding geometric constraints to formulate a system of trigonometric equations. This is then efficiently solved, following an algebraic approach, to determine the unknown rotation matrix and subsequently the camera's position. As compared to recent alternatives, our method avoids computing unnecessary (and potentially numerically unstable) intermediate results, and thus achieves higher numerical accuracy and robustness at a lower computational cost. These benefits are validated through extensive Monte-Carlo simulations for both nominal and close-to-singular geometric configurations.