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XiaoShan Gao, XiaoRong Hou, Jianliang Tang, HangFei Cheng, "Complete Solution Classification for the PerspectiveThreePoint Problem," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 25, no. 8, pp. 930943, August, 2003.  
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@article{ 10.1109/TPAMI.2003.1217599, author = {XiaoShan Gao and XiaoRong Hou and Jianliang Tang and HangFei Cheng}, title = {Complete Solution Classification for the PerspectiveThreePoint Problem}, journal ={IEEE Transactions on Pattern Analysis and Machine Intelligence}, volume = {25}, number = {8}, issn = {01628828}, year = {2003}, pages = {930943}, doi = {http://doi.ieeecomputersociety.org/10.1109/TPAMI.2003.1217599}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }  
RefWorks Procite/RefMan/Endnote  x  
TY  JOUR JO  IEEE Transactions on Pattern Analysis and Machine Intelligence TI  Complete Solution Classification for the PerspectiveThreePoint Problem IS  8 SN  01628828 SP930 EP943 EPD  930943 A1  XiaoShan Gao, A1  XiaoRong Hou, A1  Jianliang Tang, A1  HangFei Cheng, PY  2003 KW  PerspectiveThreePoint problem KW  pose determination KW  analytical solutions KW  solution classification KW  geometric criteria KW  WuRitt's zero decomposition method. VL  25 JA  IEEE Transactions on Pattern Analysis and Machine Intelligence ER   
Abstract—In this paper, we use two approaches to solve the PerspectiveThreePoint (P3P) problem: the algebraic approach and the geometric approach. In the algebraic approach, we use WuRitt's zero decomposition algorithm to give a complete triangular decomposition for the P3P equation system. This decomposition provides the first complete analytical solution to the P3P problem. We also give a complete solution classification for the P3P equation system, i.e., we give explicit criteria for the P3P problem to have one, two, three, and four solutions. Combining the analytical solutions with the criteria, we provide an algorithm,
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