Optimal DLT-based Solutions for the Perspective-n-Point

Autor:	Henry, Sébastien, Christian, John A.
Rok vydání:	2024
Předmět:	Computer Science - Computer Vision and Pattern Recognition Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	We propose a modified normalized direct linear transform (DLT) algorithm for solving the perspective-n-point (PnP) problem with much better behavior than the conventional DLT. The modification consists of analytically weighting the different measurements in the linear system with a negligible increase in computational load. Our approach exhibits clear improvements -- in both performance and runtime -- when compared to popular methods such as EPnP, CPnP, RPnP, and OPnP. Our new non-iterative solution approaches that of the true optimal found via Gauss-Newton optimization, but at a fraction of the computational cost. Our optimal DLT (oDLT) implementation, as well as the experiments, are released in open source. Comment: 8 pages, 6 figures, 2 tables
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2410.14164 Zobrazit plný text záznamu View this record from Arxiv