Optimal DLT-based Solutions for the Perspective-n-Point

• URL: http://arxiv.org/abs/2410.14164v1
• Date: Fri, 18 Oct 2024 04:04:58 GMT
• Title: Optimal DLT-based Solutions for the Perspective-n-Point
• Authors: Sébastien Henry, John A. Christian,
• Abstract summary: We propose a modified direct linear (DLT) algorithm for solving the perspective-n-point (Newton) The modification consists analytically weighting the different measurements in the linear system with a negligible increase in computational load. Our approach clears improvements in both performance and runtime.
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• Abstract: We propose a modified normalized direct linear transform (DLT) algorithm for solving the perspective-n-point (PnP) problem with much better behavior than the conventional DLT. The modification consists of analytically weighting the different measurements in the linear system with a negligible increase in computational load. Our approach exhibits clear improvements -- in both performance and runtime -- when compared to popular methods such as EPnP, CPnP, RPnP, and OPnP. Our new non-iterative solution approaches that of the true optimal found via Gauss-Newton optimization, but at a fraction of the computational cost. Our optimal DLT (oDLT) implementation, as well as the experiments, are released in open source.

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