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GSPnP: simple and geometric solution for PnP problem

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Abstract

Camera pose estimation known as Perspective-n-Point (PnP) problem has essential applications in different fields such as robotics and augmented reality. In this paper, we propose a novel method for PnP problem called Geometric and Simple PnP (GSPnP) using coplanar feature points. Some characteristics of our proposed algorithm are non-iterativity, simplicity, ease-of-implementation on planer markers, and better accuracy. Our method reaches a very fast solution, beyond any complicated calculations just by relying on the projection geometry. We compare our proposed method with the available methods in solvePnP function of OpenCV library using AR.Drone 2.0 quadcopter simulation in Gazebo world and ArUco markers with the help of ROS. Moreover, we practically make some experiments using a real AR.Drone 2.0 quadcopter fitted in the table of a milling machine. The results show that GSPnP method is the fastest method (specifically, 13 times in simulation case and five times in experimental case faster than the current fastest method) with almost the same accuracy and even better results in some cases (e.g., a higher accuracy in the camera’s height estimation) compared to the other methods.

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Authors and Affiliations

  1. Department of Mechatronics Engineering, School of Engineering-Emerging Technologies, University of Tabriz, Tabriz, Iran

    Sahand Eivazi Adli, Maryam Shoaran & S. Mohammadreza Sayyed Noorani

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  1. Sahand Eivazi Adli
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  2. Maryam Shoaran
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  3. S. Mohammadreza Sayyed Noorani
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Correspondence to Maryam Shoaran.

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Eivazi Adli, S., Shoaran, M. & Sayyed Noorani, S.M. GSPnP: simple and geometric solution for PnP problem. Vis Comput 36, 1549–1557 (2020). https://doi.org/10.1007/s00371-019-01747-x

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