Analysis and solutions of the three point perspective pose estimation problem

The major direct solutions to the three-point perspective pose estimation problems are reviewed from a unified perspective. The numerical stability of these three-point perspective solutions are discussed. It is shown that even in cases where the solution is not near the geometric unstable region co...

Full description

Saved in:
Bibliographic Details
Published inProceedings. 1991 IEEE Computer Society Conference on Computer Vision and Pattern Recognition pp. 592 - 598
Main Authors Haralick, R.M., Lee, D., Ottenburg, K., Nolle, M.
Format Conference Proceeding
LanguageEnglish
Published IEEE Comput. Soc. Press 1991
Subjects
Cameras
Computer errors
Computer vision
Differential equations
Intelligent systems
Laboratories
Numerical stability
Polynomials
Protocols
Roundoff errors
Online AccessGet full text

Cover

More Information
Summary:The major direct solutions to the three-point perspective pose estimation problems are reviewed from a unified perspective. The numerical stability of these three-point perspective solutions are discussed. It is shown that even in cases where the solution is not near the geometric unstable region considerable care must be exercised in the calculation. Depending on the order of the substitutions utilized, the relative error can change over a thousand to one. This difference is due entirely to the way the calculations are performed and not to any geometric structural instability of any problem instance. An analytical method is presented which produces a numerically stable calculation.< >
ISBN:0818621486
9780818621482
ISSN:1063-6919
DOI:10.1109/CVPR.1991.139759