000149423 001__ 149423
000149423 005__ 20190812205417.0
000149423 037__ $$aCONF
000149423 245__ $$aAccurate Non-Iterative O(n) Solution to the PnP Problem
000149423 269__ $$a2007
000149423 260__ $$c2007
000149423 336__ $$aConference Papers
000149423 520__ $$aWe propose a non-iterative solution to the PnP problem---the estimation of the pose of a calibrated camera from n 3D-to-2D point correspondences---whose computational complexity grows linearly with n. This is in contrast to state-of-the-art method that are O(n^5) or even O(n^8), without being more accurate. Our method is applicable for all n greater than 4 and handles properly both planar and non-planar configurations. Our central idea is to express the n 3--D points as a weighted sum of four virtual control points. The problem then reduces to estimating the coordinates of these control points in the camera referential, which can be done in $O(n)$ time by expressing these coordinates as weighted sum of the eigenvectors of a $12\times12$ matrix and solving a small constant number of quadratic equations to pick the right weights. The advantages of our method are demonstrated by thorough testing on both synthetic and real-data.
000149423 700__ $$aMoreno-Noguer, Francesc
000149423 700__ $$0240235$$g149007$$aLepetit, Vincent
000149423 700__ $$aFua, Pascal$$g112366$$0240252
000149423 7112_ $$d2007$$aInternational Conference on Computer Vision
000149423 8564_ $$zn/a$$yn/a$$uhttps://infoscience.epfl.ch/record/149423/files/top.pdf$$s1916230
000149423 909C0 $$xU10659$$pCVLAB$$0252087
000149423 909CO $$ooai:infoscience.tind.io:149423$$qGLOBAL_SET$$pconf$$pIC
000149423 917Z8 $$x112366
000149423 937__ $$aEPFL-CONF-149423
000149423 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000149423 980__ $$aCONF