摘要
In the PnP problem,the imaging devices follow the perspective rule and the imaging rays pass through a common point. However,there are many new imaging devices being developed for robot navigation or other fields with the advance in imaging technologies for machine vision. These devise are not necessarily being designed to follow the perspective rule in order to satisfy some design criterion and,thus, the imaging rays may not pass through a common point.Such generalized imaging devices may not be perspective and, therefore, their poses cannot be estimated with traditional perspective technique.Using the Wu-Ritt＇s zero decomposition method,the main component for the nonperspective-three-point problem is given. We prove that there are at most eight solutions in the general case and give the solution classification for the NP3P problem.
基金
This project was partially supported by Shuxue Tianyuan Foundation(No.10526031).
