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Lambda Twist: An Accurate Fast Robust Perspective Three Point (P3P) Solver
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-5931-9396
Linköping University, Department of Electrical Engineering, Computer Vision.
2018 (English)In: Computer Vision -- ECCV 2018Part of the Lecture Notes in Computer Science book series (LNCS, volume 11208), Cham, 2018, p. 334-349Conference paper, Published paper (Refereed)
Abstract [en]

We present Lambda Twist; a novel P3P solver which is accurate, fast and robust. Current state-of-the-art P3P solvers find all roots to a quartic and discard geometrically invalid and duplicate solutions in a post-processing step. Instead of solving a quartic, the proposed P3P solver exploits the underlying elliptic equations which can be solved by a fast and numerically accurate diagonalization. This diagonalization requires a single real root of a cubic which is then used to find the, up to four, P3P solutions. Unlike the direct quartic solvers our method never computes geometrically invalid or duplicate solutions.

Extensive evaluation on synthetic data shows that the new solver has better numerical accuracy and is faster compared to the state-of-the-art P3P implementations. Implementation and benchmark are available on github.

Place, publisher, year, edition, pages
Cham, 2018. p. 334-349
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:liu:diva-161264ISBN: 978-3-030-01225-0 (print)OAI: oai:DiVA.org:liu-161264DiVA, id: diva2:1365550
Conference
EUROPEAN CONFERENCE ON COMPUTER VISION
Available from: 2019-10-25 Created: 2019-10-25 Last updated: 2019-10-25

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Persson, MikaelNordberg, Klas

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