A Simplified Algorithm for Solution Classification of the Perspective-three-Point Problem 1)
Yang Lu · 1998
Given the distance between every pair of 3 control points, and given the angle to every pair of the control points from an additional point called the Center of Perspectivity (P ), find the lengths of the segments joining the P to each of the control points. We call this the “perspective-three-point (p3p) problem”. The corresponding algebraic equation system is called the p3p equation system. So-called a solution classification of the p3p equation system is to give explicit conditions under which the system has none, one, two, ... real physical solutions, respectively. This problem had been open for many years [11, 1-8]. An efficient algorithm is presented here for such a classification under some non-degenerate conditions that gives: • The condition under which the p3p equation system has a unique real physical solution.