| SOLUTION CLASSIFICATION FOR THE NONPERSPECTIVE-THREE-POINT PROBLEM |
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| 作者姓名： | Jianliang TANG Wensheng CHEN |
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| 作者单位： | [1]Department of Mathematics, College of Science, Shenzhen University, Shenzhen 518060 [2]Key Laboratory of Mathematics Mechanization, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100080, China. [3]Department of Mathematics, College of Science, Shenzhen University, Shenzhen 518060, China. |
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| 基金项目： | This project was partially supported by Shuxue Tianyuan Foundation （No. 10526031）. |
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| 摘 要： | In the PnP problem,the imaging devices follow the perspective rule and the imaging rays pass through a common point. However,there are many new imaging devices being developed for robot navigation or other fields with the advance in imaging technologies for machine vision. These devise are not necessarily being designed to follow the perspective rule in order to satisfy some design criterion and,thus, the imaging rays may not pass through a common point.Such generalized imaging devices may not be perspective and, therefore, their poses cannot be estimated with traditional perspective technique.Using the Wu-Ritt＇s zero decomposition method,the main component for the nonperspective-three-point problem is given. We prove that there are at most eight solutions in the general case and give the solution classification for the NP3P problem.
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| 关 键 词： | 完全辨别系统 非透视三点问题 透视三点问题 P3P 控制点 |
| 收稿时间： | 2005-06-08 |
| 修稿时间： | 2005-06-082006-02-05 |
Solution Classification for the Nonperspective-Three-Point Problem |
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| Jianliang TANG Wensheng CHEN.SOLUTION CLASSIFICATION FOR THE NONPERSPECTIVE-THREE-POINT PROBLEM[J].Journal of Systems Science and Complexity,2006,19(2):219-226. |
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| Authors: | Jianliang Tang Wensheng Chen |
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| Institution: | (1) Department of Mathematics, College of Science, Shenzhen University, Shenzhen, 518060;(2) Key Laboratory of Mathematics Mechanization, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, 100080, China;(3) Department of Mathematics, College of Science, Shenzhen University, Shenzhen, 518060, China |
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| Abstract: | In the PnP problem,the imaging devices follow the perspective rule and the imaging rays pass through a common point.However,there are many new imaging devices being developed for robot navigation or other fields with the advance in imaging technologies for machine vision.These devise are not necessarily being designed to follow the perspective rule in order to satisfy some design criterion and, thus,the imaging rays may not pass through a common point.Such generalized imaging devices may not be perspective and,therefore,their poses cannot be estimated with traditional perspective technique. Using the Wu-Ritt's zero decomposition method,the main component for the nonperspective-three- point problem is given.We prove that there are at most eight solutions in the general case and give the solution classification for the NP3P problem. |
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| Keywords: | Complete discrimination system Nonperspective-Three-Point Perspective-Three-Point Problem(P3P) revised sign lists solution classification |
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