Abstract
In this paper, we present a novel non-iterative algorithm for solving the pose estimation problem from a set of 3D-to-2D point correspondences, known as the Perspective-n-Point (PnP) problem. The presented algorithm is capable of achieving both geometrical and statistical optimality by exploring the geometrical constraints of the PnP problem through a nonlinear least-squares fashion, as well as accounting for observation uncertainty in the solution process. In addition, to further improve the accuracy of the presented algorithm, we introduce a method that is able to eliminate the bias of solution caused by the propagation of uncertainty, resulting in a consistent estimate. Experimental tests on synthetic data and real images (i.e., TempleRing dataset) show that the presented algorithm can well adapt to different levels of noise, and out-perform state-of-the-art (SOTA) PnP algorithms in terms of accuracy and computational cost. This makes the presented algorithm eminently suitable for a wide range of application scenarios.
This work is supported in part by the Startup Foundation for Introducing Talent of NUIST under Grant 2022r078.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Zhu, S., Zhang, R., Zhou, L., et al.: Very large-scale global SFM by distributed motion averaging. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pp. 4568–4577. IEEE (2018)
Liu, Y., Chen, G., Knoll, A.: Absolute pose estimation with a known direction by motion decoupling. IEEE Trans. Circ. Syst. Video Technol. (2023)
Du, G., Wang, K., Lian, S., et al.: Vision-based robotic grasping from object localization, object pose estimation to grasp estimation for parallel grippers: a review. Artif. Intell. Rev. 54(3), 1677–1734 (2021)
Mildenhall, B., Srinivasan, P.P., Tancik, M., et al.: NERF: representing scenes as neural radiance fields for view synthesis. Commun. ACM 65(1), 99–106 (2021)
Min, Z., Zhuang, B., Schulter, S., et al.: NeurOCS: neural NOCS supervision for monocular 3D object localization. In: Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, pp. 21404–21414. IEEE (2023)
Tekin, B., Bogo, F., Pollefeys, M.: H+O: unified egocentric recognition of 3D hand-object poses and interactions. In: Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, pp. 4511–4520. IEEE (2019)
Grunert, J.A.: Das pothenotische problem in erweiterter gestalt nebst bber seine anwen-dungen in der geodasie. Grunerts Archiv fur Mathematik und Physik 1, 238–248 (1841)
Haralick, B.M., Lee, C.N., Ottenberg, K., et al.: Review and analysis of solutions of the three point perspective pose estimation problem. Int. J. Comput. Vision 13, 331–356 (1994)
Mu, B., Bai, E.W., Zheng, W.X., et al.: A globally consistent nonlinear least squares estimator for identification of nonlinear rational systems. Automatica 77, 322–335 (2017)
Lepetit, V., Moreno-Noguer, F., Fua, P.: EPnP: an accurate O(n) solution to the PnP problem. Int. J. Comput. Vision 81, 155–166 (2009)
Li, S., Xu, C., Xie, M.: A robust O(n) solution to the perspective-n-point problem. IEEE Trans. Pattern Anal. Mach. Intell. 34(7), 1444–1450 (2012)
Hesch, J.A., Roumeliotis, S.I.: A Direct Least-squares (DLS) method for PnP. In: 2011 International Conference on Computer Vision, pp. 383–390. IEEE (2011)
Zheng, Y., Kuang, Y., Sugimoto, S., et al.: Revisiting the PnP problem: a fast, general and optimal solution. In: Proceedings of the IEEE International Conference on Computer Vision, pp. 2344–2351. IEEE (2013)
Lu, C.P., Hager, G.D., Mjolsness, E.: Fast and globally convergent pose estimation from video images. IEEE Trans. Pattern Anal. Mach. Intell. 22(6), 610–622 (2000)
Ferraz, L., Binefa, X., Moreno-Noguer, F.: Very fast solution to the PnP problem with algebraic outlier rejection. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, pp. 501–508. IEEE (2014)
Ferraz Colomina, L., Binefa, X., Moreno-Noguer, F.: Leveraging feature uncertainty in the PnP problem. In: Proceedings of the BMVC 2014 British Machine Vision Conference, pp. 1–13. IEEE (2014)
Urban, S., Leitloff, J., Hinz, S.: MLPnP-a real-time maximum likelihood solution to the Perspective-n-Point problem. arXiv preprint arXiv:1607.08112 (2016)
Vakhitov, A., Ferraz, L., Agudo, A., et al.: Uncertainty-aware camera pose estimation from points and lines. In: Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, pp. 4659–4668. IEEE (2013)
Zeng, G., Chen, S., Mu, B., et al.: CPnP: consistent pose estimator for Perspective-n-Point problem with bias elimination. arXiv preprint arXiv:2209.05824 (2022)
Irani, M., Anandan, P.: Factorization with uncertainty. Int. J. Comput. Vision 49, 101–116 (2002)
Steele, R.M., Jaynes, C.: Feature uncertainty arising from covariant image noise. In: 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 1063–1070. IEEE (2005)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
1 Electronic supplementary material
Below is the link to the electronic supplementary material.
Rights and permissions
Copyright information
© 2024 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Zhou, X., Xie, Z., Yu, Q., Zong, Y., Wang, Y. (2024). An Efficient and Consistent Solution to the PnP Problem. In: Liu, Q., et al. Pattern Recognition and Computer Vision. PRCV 2023. Lecture Notes in Computer Science, vol 14426. Springer, Singapore. https://doi.org/10.1007/978-981-99-8432-9_17
Download citation
DOI: https://doi.org/10.1007/978-981-99-8432-9_17
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-8431-2
Online ISBN: 978-981-99-8432-9
eBook Packages: Computer ScienceComputer Science (R0)