A Probabilistic Study on the Multiple Solutions of the P3P Problem
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    Abstract:

    Under some special conditions, the P3P problem can have 1, 2, 3 and 4 solutions, and if the 3 control points and the optical center lie on a circle, the problem is indeterminate. In this paper, by the Monte Carlo approach of up to 1 million samples, it is shown that the probabilities of the P3P problem with one solution, two solutions, three solutions, and four solutions are respectively 0.9993, 0.0007, 0.0000, 0.0000. The result confirms the well-known fact that in the most cases, the P3P has a unique solution.

    Reference
    [1]Su C,Xu YQ,Li H,Liu SQ,Li DG.Necessary and sufficient condition of positive root number of perspective-three-point problem.Chinese Journal of Computers,1998,21(12):1084-1095 (in Chinese with English abstract).
    [2]Fishler MA,Bolles RC.Random sample consensus:A paradigm for model fitting with applications to image analysis and automated cartography.Communications of ACM,1981,24(6):381-395.
    [3]Wolfe WJ,Mathis D,Sklair CW,Magee M.The perspective view of three points.IEEE Trans.on Pattern Analysis and Machine Intelligence,1991,13(1):66-73.
    [4]Gao XS,Hou XR,Tang JL,Cheng HF.Complete solution classification for the perspective-three-point problem.IEEE Trans.on Pattern Analysis and Machine Intelligence,2003,25(8):930-943.
    [5]Zhang CX,Hu ZY.A general sufficient condition of 4 positive solutions of the P3P problem.Journal of Computer Science & Technology,2004,20(6):836-842.
    [6]Papoulis A.Probability,Random Variables,and Stochastic Processes.2nd ed.,McGraw-Hill,Inc.,1985.95-96. [1]苏成,徐迎庆,李华,刘慎权,李冬果.判定P3P问题正解数目的充要条件.计算机学报,1998,21(12):1084-1095.
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张彩霞,胡占义. P3P问题的多解现象的概率研究.软件学报,2007,18(9):2100-2104

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History
  • Received:May 26,2004
  • Revised:April 26,2006
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