Skip navigation
Skip navigation

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

Description

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]

dc.contributor.authorKneip, Laurent
dc.contributor.authorScaramuzza, D
dc.contributor.authorSiegwart, Roland
dc.coverage.spatialColorado Springs, CO
dc.date.accessioned2015-12-07T22:49:21Z
dc.date.createdJune 20-25 2011
dc.identifier.isbn9781457703942
dc.identifier.urihttp://hdl.handle.net/1885/26715
dc.description.abstractThe 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 sets. In contrast, in this paper we propose a novel closed-form solution to the P3P problem, which computes the aligning transformation directly in a single stage, without the intermediate derivation of the points in the camera frame. This is made possible by introducing intermediate camera and world reference frames, and expressing their relative position and orientation using only two parameters. The projection of a world point into the parametrized camera pose then leads to two conditions and finally a quartic equation for finding up to four solutions for the parameter pair. A subsequent backsubstitution directly leads to the corresponding camera poses with respect to the world reference frame. We show that the proposed algorithm offers accuracy and precision comparable to a popular, standard, state-of-the-art approach but at much lower computational cost (15 times faster). Furthermore, it provides improved numerical stability and is less affected by degenerate configurations of the selected world points. The superior computational efficiency is particularly suitable for any RANSAC-outlier- rejection step, which is always recommended before applying PnP or non-linear optimization of the final solution.
dc.publisherIEEE
dc.relation.ispartofseries2011 IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2011
dc.sourceProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
dc.subjectKeywords: Accuracy and precision; Camera frames; Camera positions; Closed form solutions; Computational costs; Non-linear optimization; P3P problem; Parametrizations; Point correspondence; Quartic equation; Reference frame; Relative positions; Single stage; State-o
dc.titleA Novel Parametrization of the Perspective -Three-Point Problem for a Direct Computation of Absolute Camera Position and Orientation
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2011
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationu4628727xPUB46
local.type.statusPublished Version
local.contributor.affiliationKneip, Laurent, College of Engineering and Computer Science, ANU
local.contributor.affiliationScaramuzza, D, Swiss Federal Institute of Technology Zurich (ETH Zurich)
local.contributor.affiliationSiegwart, Roland, Swiss Federal Institute of Technology Zurich (ETH Zurich)
local.description.embargo2037-12-31
local.bibliographicCitation.startpage2969
local.bibliographicCitation.lastpage2976
local.identifier.doi10.1109/CVPR.2011.5995464
local.identifier.absseo970109 - Expanding Knowledge in Engineering
dc.date.updated2016-02-24T11:15:02Z
local.identifier.scopusID2-s2.0-80052902593
CollectionsANU Research Publications

Download

File Description SizeFormat Image
01_Kneip_A_Novel_Parametrization_of_the_2011.pdf282.29 kBAdobe PDF    Request a copy


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  19 May 2020/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator