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Linear N-Point Camera Pose Determination
August 1999 (vol. 21 no. 8)
pp. 774-780

Abstract—The determination of camera position and orientation from known correspondences of 3D reference points and their images is known as pose estimation in computer vision and space resection in photogrammetry. It is well-known that from three corresponding points there are at most four algebraic solutions. Less appears to be known about the cases of four and five corresponding points. In this paper, we propose a family of linear methods that yield a unique solution to 4- and 5-point pose determination for generic reference points. We first review the 3-point algebraic method. Then we present our two-step, 4-point and one-step, 5-point linear algorithms. The 5-point method can also be extended to handle more than five points. Finally, we demonstrate our methods on both simulated and real images. We show that they do not degenerate for coplanar configurations and even outperform the special linear algorithm for coplanar configurations in practice.

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Index Terms:
Pose estimation, space resection, 2D-3D image orientation, exterior orientation determination, perspective-n-point-problem, four points, five points.
Long Quan, Zhongdan Lan, "Linear N-Point Camera Pose Determination," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 21, no. 8, pp. 774-780, Aug. 1999, doi:10.1109/34.784291
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