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3-D pose from 3 points using weak-perspective

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1 Author(s)
Alter, T.D. ; Artificial Intelligence Lab., MIT, Cambridge, MA, USA

This correspondence discusses computing the pose of a model from three matching point pairs under weak-perspective projection. A new approach to the problem that is motivated geometrically is described. Like previous methods, the method here involves solving a biquadratic equation, but here the biquadratic's solutions, comprised of an actual and a false solution, are interpreted graphically. The final equations take a new form, which leads to a simple expression for the image position of any unmatched model point

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Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:16 ,  Issue: 8 )