EPnP: An accurate O(n) solution to the PnP problem

International Journal of Computer Vision

Volumn 81, Issue 2, 2009, Pages 155-166

  Lepetit, Vincent ^a   Moreno Noguer, Francesc ^a   Fua, Pascal ^a  

^a EPFL   (Switzerland)

Author keywords

Absolute orientation; Perspective n Point; Pose estimation

Indexed keywords

CAMERAS; COMPUTATIONAL COMPLEXITY;

ABSOLUTE ORIENTATION; ART METHODS; CALIBRATED CAMERAS; CLOSED-FORM SOLUTIONS; CONTROL POINTS; EIGEN VECTORS; ITERATIVE SOLUTIONS; PERSPECTIVE-N-POINT; PLANAR CONFIGURATIONS; PNP PROBLEMS; POINT CORRESPONDENCES; POSE ESTIMATION; QUADRATIC EQUATIONS; VIRTUAL CONTROLS; WEIGHTED SUMS;

IMAGE CODING;

EID: 58149481343     PISSN: 09205691     EISSN: 15731405     Source Type: Journal    
DOI: 10.1007/s11263-008-0152-6     Document Type: Article

References (30)

1. Abdel-Aziz, Y. I., & Karara, H. M. (1971). Direct linear transformation from comparator coordinates into object space coordinates in close-range photogrammetry. In Proc. ASP/UI symp. close-range photogrammetry (pp. 1-18).
2. A. Ansar K. Daniilidis 2003 Linear pose estimation from points or lines IEEE Transactions on Pattern Analysis and Machine Intelligence 25 5 578 589
3. K. S. Arun T. S. Huang S. D. Blostein 1987 Least-squares fitting of two 3-D points sets IEEE Transactions on Pattern Analysis and Machine Intelligence 9 5 698 700
4. Chang, Y., & Rockwood, A. P. (1994). A generalized de Casteljau approach to 3D free-form deformation. In ACM SIGGRAPH (pp. 257-260).
5. D. DeMenthon L. S. Davis 1995 Model-based object pose in 25 lines of code International Journal of Computer Vision 15 123 141
6. M. Dhome M. Richetin J.-T. Lapreste 1989 Determination of the attitude of 3d objects from a single perspective view IEEE Transactions on Pattern Analysis and Machine Intelligence 11 12 1265 1278
7. P. D. Fiore 2001 Efficient linear solution of exterior orientation IEEE Transactions on Pattern Analysis and Machine Intelligence 23 2 140 148
8. M. A. Fischler R. C. Bolles 1981 Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography Communications ACM 24 6 381 395
9. X. S. Gao X. R. Hou J. Tang H. F. Cheng 2003 Complete solution classification for the perspective-three-point problem IEEE Transactions on Pattern Analysis and Machine Intelligence 25 8 930 943
10. Golub, G. H., & Van Loan, C. F. (1996). Matrix computations. Johns Hopkins studies in mathematical sciences. Baltimore: Johns Hopkins Press.
11. Haralick, R. M., Lee, D., Ottenburg, K., & Nolle, M. (1991). Analysis and solutions of the three point perspective pose estimation problem. In Conference on computer vision and pattern recognition (pp. 592-598).
12. Hartley, R., & Zisserman, A. (2000). Multiple view geometry in computer vision. Cambridge: Cambridge University Press.
13. R. Horaud B. Conio O. Leboulleux B. Lacolle 1989 An analytic solution for the perspective 4-point problem Computer Vision, Graphics, and Image Processing 47 1 33 44
14. R. Horaud F. Dornaika B. Lamiroy 1997 Object pose: The link between weak perspective, paraperspective, and full perspective International Journal of Computer Vision 22 2 173 189
15. B. K. P. Horn H. M. Hilden S. Negahdaripour 1988 Closed-form solution of absolute orientation using orthonormal matrices Journal of the Optical Society of America 5 7 1127 1135
16. Kipnis, A., & Shamir, A. (1999). Cryptanalysis of the HFE public key cryptosystem by relinearization. In Advances in cryptology-CRYPTO'99 (Vol. 1666/1999, pp. 19-30). Berlin: Springer.
17. R. Kumar A. R. Hanson 1994 Robust methods for estimating pose and a sensitivity analysis Computer Vision and Image Understanding 60 3 313 342
18. V. Lepetit P. Fua 2006 Keypoint recognition using randomized trees IEEE Transactions on Pattern Analysis and Machine Intelligence 28 9 1465 1479
19. D. G. Lowe 1991 Fitting parameterized three-dimensional models to images IEEE Transactions on Pattern Analysis and Machine Intelligence 13 5 441 450
20. C.-P. Lu G. D. Hager E. Mjolsness 2000 Fast and globally convergent pose estimation from video images IEEE Transactions on Pattern Analysis and Machine Intelligence 22 6 610 622
21. McGlove, C., Mikhail, E., & Bethel, J. (Eds.) (2004). Manual of photogrametry. American society for photogrammetry and remote sensing (5th edn.).
22. Moreno-Noguer, F., Lepetit, V., & Fua, P. (2007). Accurate non-iterative o(n) solution to the pnp problem. In IEEE international conference on computer vision. Rio de Janeiro, Brazil.
23. D. Oberkampf D. DeMenthon L. S. Davis 1996 Iterative pose estimation using coplanar feature points Computer Vision and Image Understanding 63 495 511
24. L. Quan Z. Lan 1999 Linear N-point camera pose determination IEEE Transactions on Pattern Analysis and Machine Intelligence 21 7 774 780
25. G. Schweighofer A. Pinz 2006 Robust pose estimation from a planar target IEEE Transactions on Pattern Analysis and Machine Intelligence 28 12 2024 2030
26. Sederberg, T. W., & Parry, S. R. (1986). Free-form deformation of solid geometric models. ACM SIGGRAPH, 20(4).
27. Skrypnyk, I., & Lowe, D. G. (2004). Scene modelling, recognition and tracking with invariant image features. In International symposium on mixed and augmented reality (pp. 110-119). Arlington, VA.
28. H. Stewènius C. Engels D. Nister 2006 Recent developments on direct relative orientation International Society for Photogrammetry and Remote Sensing 60 284 294
29. Triggs, B. (1999). Camera pose and calibration from 4 or 5 known 3D points. In International conference on computer vision (pp. 278-284).
30. Umeyama, S. (1991). Least-squares estimation of transformation parameters between two point patterns. IEEE Transactions on Pattern Analysis and Machine Intelligence, 13(4).