Lambda Twist: An Accurate Fast Robust Perspective Three Point (P3P) Solver

Nordberg, Klas

doi:10.1007/978-3-030-01225-0_20

Cited by 82 publications

(53 citation statements)

References 8 publications

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“…This problem is relevant with, for example, shape recognition, shape reconstruction, and mental rotation tasks. It is known as the Perspective-3-Point (P3P) problem [ 19 , 20 , 21 , 22 , 23 , 24 , 25 , 26 , 27 , 28 ]. It has been proven that there are 0, or up to 4, possible 3D interpretations of the triangle for the given shape ( ω A , ω B , ω C ) as well as for the size s and for the retinal image of the triangle given ( θ BC , θ CA , θ AB ).…”

Section: Discussionmentioning

confidence: 99%

“…It has been proven that there are 0, or up to 4, possible 3D interpretations of the triangle for the given shape ( ω A , ω B , ω C ) as well as for the size s and for the retinal image of the triangle given ( θ BC , θ CA , θ AB ). These interpretations correspond with the solutions of the quartic equation that is used to solve the P3P problem (see Reference [ 28 ]).…”

Section: Discussionmentioning

confidence: 99%

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Theoretical Treatment of Limitations Inherent in Simple 3D Stimuli: Triangles and the P3P Problem

Minkov

Sawada

2021

Vision

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Understanding the visual stimulus in a psychophysical experiment, theoretically, is critical for controlling the experiment, for interpreting the empirical results of the experiment, and for discussing the mechanisms the visual system used to get these results. This fact encourages visual scientists to use “simple” visual stimuli in their experiments. A triangle is one of the simplest stimuli that has been used by psychophysicists to study 3D perception. It has also been used to compose the polygonal meshes that represent complex 3D surfaces in computer graphics. The relationship between the shape, orientation, and retinal image of a triangle has also been studied as the Perspective-3-Point problem (P3P). In this study, the statistical properties of this relationship between the 2D retinal image of a triangle and its recovered 3D orientation were tested in a simulation experiment whose results showed that a triangle is qualitatively different from more complex shapes that have been used to recover 3D information from their retinal images. This raises an important question, namely, how many, if any, inferences about our visual system can be generalized to our perceptions in everyday life when they are based on psychophysical experiments that used very simple visual stimuli such as triangles.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Theoretical Treatment of Limitations Inherent in Simple 3D Stimuli: Triangles and the P3P Problem

Minkov

Sawada

2021

Vision

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“…Obviously, fewer are the key-points and their multiplicity, higher will be the uncertainty of the calibration and orientation computed with SR. Moreover, with both methods a result can converge to a false or odd solution for which some refinement methods will be prospected in a near future, like the incremental approaches of Open-MVG (Moulon et al, 2016, Ke andRoumeliotis, 2017), up-to-date perspective-three-point solver (Larsson et al, 2017, Persson andNordberg, 2018) or using 2D/3D Mutual-Information registration (Palma et al, 2010). However despite of current limitation, the outcome is encouraging for forthcoming extensions and modules of TACO to endorse its ability to process complex multimodal CH imaging data sets.…”

Section: A Versatile Incremental Spatial Registration Of New Images Omentioning

confidence: 99%

A Fully Automated Incremental Photogrammetric Processing Dedicated for Collaborative Remote-Computing Workflow

Pamart¹,

Morlet²,

Luca³

2019

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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<p><strong>Abstract.</strong> Image based-modeling practices in the field of Cultural Heritage studies are nowadays no longer seen as one-shot applications but as various and complex multimodal scenarios. Current use of SFM and photogrammetric methods implies their extensions to facilitate the management of complex multimodal data sets carried-out by different experts around a single heritage asset. In order to fully benefit of collaborative semantic enrichment of spatially oriented resources, a versatile and robust solution have been developed to enable incremental registration of image-sets within the web-based platform AIOLI. For this purpose, this paper will present an on-going development of a Totally Automated Co-registration and Orientations (TACO) work-flow.</p>

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“…Given a set of n control points and given the intrinsic parameters, the estimation of the camera pose is called the Perspective-n-Points problem (PnP). Three is the smallest number of correspondences that yields a finite number of solutions [6,7]. PnP with three correspondences points is called P3P.…”

Section: Introductionmentioning

confidence: 99%

Camera Calibration with Weighted Direct Linear Transformation and Anisotropic Uncertainties of Image Control Points

Barone

Marrazzo²,

Otón

2020

Sensors

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Camera calibration is a crucial step for computer vision in many applications. For example, adequate calibration is required in infrared thermography inside gas turbines for blade temperature measurements, for associating each pixel with the corresponding point on the blade 3D model. The blade has to be used as the calibration frame, but it is always only partially visible, and thus, there are few control points. We propose and test a method that exploits the anisotropic uncertainty of the control points and improves the calibration in conditions where the number of control points is limited. Assuming a bivariate Gaussian 2D distribution of the position error of each control point, we set uncertainty areas of control points’ position, which are ellipses (with specific axis lengths and rotations) within which the control points are supposed to be. We use these ellipses to set a weight matrix to be used in a weighted Direct Linear Transformation (wDLT). We present the mathematical formalism for this modified calibration algorithm, and we apply it to calibrate a camera from a picture of a well known object in different situations, comparing its performance to the standard DLT method, showing that the wDLT algorithm provides a more robust and precise solution. We finally discuss the quantitative improvements of the algorithm by varying the modules of random deviations in control points’ positions and with partial occlusion of the object.

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Lambda Twist: An Accurate Fast Robust Perspective Three Point (P3P) Solver

Cited by 82 publications

References 8 publications

Theoretical Treatment of Limitations Inherent in Simple 3D Stimuli: Triangles and the P3P Problem

Theoretical Treatment of Limitations Inherent in Simple 3D Stimuli: Triangles and the P3P Problem

A Fully Automated Incremental Photogrammetric Processing Dedicated for Collaborative Remote-Computing Workflow

Camera Calibration with Weighted Direct Linear Transformation and Anisotropic Uncertainties of Image Control Points

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