Abstract:
Determining the position and orientation of the camera is a crucial problem with the rapidly developing technology in visual Simultaneous Localization and Mapping (SLAM),...Show MoreMetadata
Abstract:
Determining the position and orientation of the camera is a crucial problem with the rapidly developing technology in visual Simultaneous Localization and Mapping (SLAM), augmented reality and 3D reconstruction. Solving the PnP (perspective-n-point) problem is an effective method to calculate the pose of the camera and is also the most widely used method in many applications. In this paper, the methods for PnP problem, including special PnP problem and general PnP problem are summarized firstly. Then, due to importance of performing PnP methods in practical applications, ability to handle outliers for PnP methods is studied. Finally, the main problems of the current researches on PnP problem are presented.
Published in: 2021 40th Chinese Control Conference (CCC)
Date of Conference: 26-28 July 2021
Date Added to IEEE Xplore: 06 October 2021
ISBN Information:
ISSN Information:
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Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Application Of Methods ,
- Specific Problems ,
- 3D Reconstruction ,
- Camera Position ,
- Simultaneous Localization And Mapping ,
- Camera Pose ,
- Camera Orientation ,
- Objective Function ,
- Iterative Process ,
- Local Minima ,
- Lot Of Time ,
- Reference Method ,
- Control Points ,
- Nonlinear Least Squares ,
- Aforementioned Methods ,
- 3D Point ,
- Pose Estimation ,
- Least Squares Problem ,
- 2D Projection ,
- Optimal Objective Function ,
- Nonlinear Least Squares Problem ,
- Iterative Closest Point ,
- Reprojection Error ,
- Configuration Of Points ,
- Semidefinite Programming ,
- Planar Case ,
- World Frame ,
- 3D Alignment ,
- Redundant Data ,
- Geometric Errors
- Author Keywords
Contents Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Application Of Methods ,
- Specific Problems ,
- 3D Reconstruction ,
- Camera Position ,
- Simultaneous Localization And Mapping ,
- Camera Pose ,
- Camera Orientation ,
- Objective Function ,
- Iterative Process ,
- Local Minima ,
- Lot Of Time ,
- Reference Method ,
- Control Points ,
- Nonlinear Least Squares ,
- Aforementioned Methods ,
- 3D Point ,
- Pose Estimation ,
- Least Squares Problem ,
- 2D Projection ,
- Optimal Objective Function ,
- Nonlinear Least Squares Problem ,
- Iterative Closest Point ,
- Reprojection Error ,
- Configuration Of Points ,
- Semidefinite Programming ,
- Planar Case ,
- World Frame ,
- 3D Alignment ,
- Redundant Data ,
- Geometric Errors
- Author Keywords
