Efficient DLT-Based Method for Solving PnP, PnPf, and PnPfr Problems


IEICE TRANSACTIONS on Information and Systems   Vol.E104-D    No.9    pp.1467-1477
Publication Date: 2021/09/01
Publicized: 2021/06/17
Online ISSN: 1745-1361
DOI: 10.1587/transinf.2020EDP7208
Type of Manuscript: PAPER
Category: Image Recognition, Computer Vision
perspective-n-point (PnP) problem,  absolute camera pose estimation,  direct linear transform (DLT),  focal length,  radial lens distortion,  

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This paper presents an efficient method for solving PnP, PnPf, and PnPfr problems, which are the problems of determining camera parameters from 2D-3D point correspondences. The proposed method is derived based on a simple usage of linear algebra, similarly to the classical DLT methods. Therefore, the new method is easier to understand, easier to implement, and several times faster than the state-of-the-art methods using Gröbner basis. Contrary to the existing Gröbner basis methods, the proposed method consists of three algorithms depending on the number of the points and the 3D point configuration. Experimental results show that the proposed method is as accurate as the state-of-the-art methods even in near-planar scenes while achieving up to three times faster.