不共面P4P问题多解的判定方法

PnP问题源于照相机检测，即根据给定空间n个点的相互位置关系，确定摄象机在空间的方位。以前的研究成果表明，对于给定的空间三点，最多可以出现四个解。本文针对不共面的四点透射(P4P)问题，利用Wu-Ritt零点分解方法对问题进行分组分解，并经分析后得到了问题存在多解时的若干充分条件，从而在实际应用中很容易避开那些可能存在
在多解的观察点。

Determination of the Multisolution for the Nocoplanar P4P Problem

The Perspective-n-Point(PNP) problem originates from camera calibration,and is also known as the determination of the position and orientation of the camera in the space according to the relationships of n corresponding points.From our previous research,we know that the equation system has at most four solutions with respect to three points. In this paper,we obtain some sufficient conditions with Wu-Ritt's decomposition method to decide the number of the solutions of nocoplanar P4P problems. With these conditions,we can easily avoid those perspective points that may produce multiple solutions.