A Practical Guide to Direct Least-Squares (DLS) PnP
نویسندگان
چکیده
The n-point perspective pose estimation problem (PnP) is a well studied topic in computer vision. PnP seeks to estimate the camera position and orientation (pose) from n ≥ 3 known points in the scene. In this technical report, we present a practical guide for directly computing all solutions of PnP, by optimally solving a non-linear least-squares cost function for the camera pose.
منابع مشابه
Nakano: Globally Optimal Dls Method for Pnp Problem
This paper proposes a globally optimal direct least squares (DLS) method for the PnP problem with Cayley parameterization. First we derive a new optimality condition without Lagrange multipliers, which is independent of any rotation representations. Then, we show that the new equation can be solved by several types of parameterizations and among them, Cayley parameterization is the most efficie...
متن کاملUnifying Least Squares, Total Least Squares and Data Least Squares
The standard approaches to solving overdetermined linear systems Ax ≈ b construct minimal corrections to the vector b and/or the matrix A such that the corrected system is compatible. In ordinary least squares (LS) the correction is restricted to b, while in data least squares (DLS) it is restricted to A. In scaled total least squares (Scaled TLS) [15], corrections to both b and A are allowed, ...
متن کاملScaled total least squares fundamentals
The standard approaches to solving overdetermined linear systems Bx ≈ c construct minimal corrections to the vector c and/or the matrix B such that the corrected system is compatible. In ordinary least squares (LS) the correction is restricted to c, while in data least squares (DLS) it is restricted to B. In scaled total least squares (STLS) [22], corrections to both c and B are allowed, and th...
متن کاملGlobally Optimal DLS Method for PnP Problem with Cayley parameterization
The perspective-n-point (PnP) problem, which estimates 3D rotation and translation of a calibrated camera from n pairs of known 3D points and corresponding 2D image points, is a classical problem but still fundamental in the computer vision community. It is well studied that the PnP problem can be solved by at least three points [1]. If n ≥ 4, the PnP problem becomes a nonlinear problem where t...
متن کاملBackward perturbation analysis for scaled total least-squares problems
The scaled total least-squares (STLS) method unifies the ordinary least-squares (OLS), the total leastsquares (TLS), and the data least-squares (DLS) methods. In this paper we perform a backward perturbation analysis of the STLS problem. This also unifies the backward perturbation analyses of the OLS, TLS and DLS problems. We derive an expression for an extended minimal backward error of the ST...
متن کامل