TY - JOUR

T1 - On the Effect of Control-Point Spacing on the Multisolution Phenomenon in the P3P Problem

AU - Vynnycky, M.

AU - Reddy, G. M.M.

N1 - Publisher Copyright:
© 2018 M. Vynnycky and G. M. M. Reddy.

PY - 2018

Y1 - 2018

N2 - The perspective 3-point (P3P) problem, also known as pose estimation, has its origins in camera calibration and is of importance in many fields: for example, computer animation, automation, image analysis, and robotics. One possibility is to formulate it mathematically in terms of finding the solution to a quartic equation. However, there is yet no quantitative knowledge as to how control-point spacing affects the solution structure - in particular, the multisolution phenomenon. Here, we consider this problem through an algebraic analysis of the quartic's coefficients and its discriminant and find that there are significant variations in the likelihood of two or four solutions, depending on how the spacing is chosen. The analysis indicates that although it is never possible to remove the occurrence of the four-solution case completely, it could be possible to choose spacings that would maximize the occurrence of two real solutions. Moreover, control-point spacing is found to impact significantly on the reality conditions for the solution of the quartic equation.

AB - The perspective 3-point (P3P) problem, also known as pose estimation, has its origins in camera calibration and is of importance in many fields: for example, computer animation, automation, image analysis, and robotics. One possibility is to formulate it mathematically in terms of finding the solution to a quartic equation. However, there is yet no quantitative knowledge as to how control-point spacing affects the solution structure - in particular, the multisolution phenomenon. Here, we consider this problem through an algebraic analysis of the quartic's coefficients and its discriminant and find that there are significant variations in the likelihood of two or four solutions, depending on how the spacing is chosen. The analysis indicates that although it is never possible to remove the occurrence of the four-solution case completely, it could be possible to choose spacings that would maximize the occurrence of two real solutions. Moreover, control-point spacing is found to impact significantly on the reality conditions for the solution of the quartic equation.

UR - http://www.scopus.com/inward/record.url?scp=85053194951&partnerID=8YFLogxK

U2 - 10.1155/2018/5932508

DO - 10.1155/2018/5932508

M3 - Article

AN - SCOPUS:85053194951

SN - 1024-123X

VL - 2018

JO - Mathematical Problems in Engineering

JF - Mathematical Problems in Engineering

M1 - 5932508

ER -