AP$n$P: A Less-constrained P$n$P Solver for Pose Estimation with Unknown Anisotropic Scaling or Focal Lengths

• URL: http://arxiv.org/abs/2310.09982v3
• Date: Thu, 9 Nov 2023 15:46:29 GMT
• Title: AP$n$P: A Less-constrained P$n$P Solver for Pose Estimation with Unknown Anisotropic Scaling or Focal Lengths
• Authors: Jiaxin Wei, Stefan Leutenegger and Laurent Kneip
• Abstract summary: Perspective-$n$-Point (P$n$P) stands as a fundamental algorithm for estimation in various applications. We present a new approach the P$n problem with relaxed constraints, eliminating the need precise 3D coordinates.
• Score: 29.6666848546598
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Perspective-$n$-Point (P$n$P) stands as a fundamental algorithm for pose estimation in various applications. In this paper, we present a new approach to the P$n$P problem with relaxed constraints, eliminating the need for precise 3D coordinates or complete calibration data. We refer to it as AP$n$P due to its ability to handle unknown anisotropic scaling factors of 3D coordinates or alternatively two distinct focal lengths in addition to the conventional rigid transformation. Through algebraic manipulations and a novel parametrization, both cases are brought into similar forms that distinguish themselves primarily by the order of a rotation and an anisotropic scaling operation. AP$n$P then boils down to one unique polynomial problem, which is solved by the Gr\"obner basis approach. Experimental results on both simulated and real datasets demonstrate the effectiveness of AP$n$P as a more flexible and practical solution to camera pose estimation. Code: https://github.com/goldoak/APnP.

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