P3P问题唯一解条件的补充研究  

Supplementary research for the unique solution condition of P3P

作　　者：王挺[1] 王越超 李小凡 

机构地区：[1]中国科学院研究生院,北京100039 [2]中科院机器人学重点实验室,沈阳110016

出　　处：《仪器仪表学报》2006年第z3期2493-2494,共2页Chinese Journal of Scientific Instrument

基　　金：国家863基金(2004AA420090)资助项目

摘　　要：P3P问题的多解现象使其应用受到了限制,本文结合已有的研究成果,对于P3P问题的空间唯一解区域进行了进一步分析,发现当构成P3P问题的3个控制点形成等腰三角形分布时,在空间存在另外2个区域;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,从而扩展了唯一解的适用范围。本文的研究结果对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 P3P problem limits its applications in practices. Combined with work at present, this paper presents a supplementary analysis of the unique solution region of specific P3P problem. We find another two regions in space which can lead to the unique solution of P3P problem when three control points of P3P problem form an isosceles triangle. When the camera is within these regions, we can get the solution of P3P problem uniquely. The results we obtain are very useful for disposing control points and the camera in the practical applications.

关 键 词：P3P问题 多解现象 唯一解 

分 类 号：TH7-55[机械工程—仪器科学与技术]