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.

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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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