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UPnP: An Optimal O(n) Solution to the Absolute Pose Problem with Universal Applicability*
Laurent Kneip1, Hongdong Li1, and Yongduek Seo2
1Research School of Engineering, Australian National University, Australia
2Department of Media Technology, Sogang University, Korea
Abstract. A large number of absolute pose algorithms have been presented in the literature. Common performance criteria are computational complexity, geometric optimality, global optimality, structural degeneracies, and the number of solutions. The ability to handle minimal sets of correspondences, resulting solution multiplicity, and generalized cameras are further desirable properties. This paper presents the first PnP solution that unifies all the above desirable properties within a single algorithm. We compare our result to state-of-the-art minimal, non-minimal, central, and non-central PnP algorithms, and demonstrate universal applicability, competitive noise resilience, and superior computational efficiency. Our algorithm is called Unified PnP (UPnP).
Keywords: PnP, Non-perspective PnP, Generalized absolute pose, linear complexity, global optimality, geometric optimality, DLS
Electronic Supplementary Material:
LNCS 8689, p. 127 ff.
lncs@springer.com
© Springer International Publishing Switzerland 2014