摄像机未标定的P5P问题研究

A Note on the P5P Problem with An Uncalibrated Camera

该文比较系统地研究了未标定的 P5 P问题 .主要结论有 :当 5个控制点中任意 4点不共面 ,或者存在 4点共面但任意 3个图像点不共线时 ,未标定的 P5 P问题的解仅有两种可能 :( 1)至多有 4个解 ;( 2 )有无穷多解 .文中同时给出了至多有 4个解和有无穷多解的代数条件以及求解未标定的 P5 P问题的具体算法 .

The P5P problem with an uncalibrated camera is systematically investigated in this paper. It is proved that if no 4 control points among the 5 control points are coplanar, or if no 3 image points are collinear in case the 4 control points are coplanar, the P5P problem could have the following 2 possible cases: (1) It has at most 4 solutions, and this upper bound is also attainable; (2) It has an infinite number of solutions. In addition, algebraic conditions are provided for the above two cases. Finally, we also present some practical algorithms to compute admissible solutions.