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A Novel Parametrization of the Perspective -Three-Point Problem for a Direct Computation of Absolute Camera Position and Orientation

Kneip, Laurent; Scaramuzza, D; Siegwart, Roland


The Perspective-Three-Point (P3P) problem aims at determining the position and orientation of the camera in the world reference frame from three 2D-3D point correspondences. This problem is known to provide up to four solutions that can then be disambiguated using a fourth point. All existing solutions attempt to first solve for the position of the points in the camera reference frame, and then compute the position and orientation of the camera in the world frame, which alignes the two point...[Show more]

CollectionsANU Research Publications
Date published: 2011
Type: Conference paper
Source: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
DOI: 10.1109/CVPR.2011.5995464


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