关于P3P问题解的唯一性条件的几点讨论

P3P问题的多解现象使其应用受到了限制 ,前人的研究结果对布置控制点和摄像机没有太大的指导意义 .该文作者采用了与前人不同的研究方法 ,发现 3个控制点构成等腰三角形时 ,在空间可以找到一些区域 ,当摄像机在这些区域中时 ,可以唯一地求出所构成的P3P问题的真实解 .同时 ,该文的研究结果又对P3P问题在实际应用中布置控制点和摄像机的位置具有指导意义 .

The multi-solution phenomenon of the P3P problem limits its applications in practices, and the results of predecessors are not effective in directing us to dispose the control points and the camera. We use a new approach other than the predecessors’ to study the P3P problem, and find that when the three control points form an isosceles triangle, we can find some spatial regions, and when the camera appears in these spatial regions, we can get the real solution of the formed P3P problem uniquely. And the results we obtain are also very useful for disposing control points and the camera in the practical applications.

国家“八六三”高技术研究发展计划项目 (2 0 0 2AA742 0 4 2 )资助