New insights on multi-solution distribution of the P3P problem

作者：

Highlights：

• When the optical center is outside of 6 toroids, the corresponding P3P problem cannot have a unique solution.

• When the optical center passes through one of the 3 toroids, the number of the solutions changes by 1.

• As the above 1 and 2, the 3 toroids are critical surfaces to determining the number of solutions of the P3P problem.

摘要

•When the optical center is outside of 6 toroids, the corresponding P3P problem cannot have a unique solution.•When the optical center passes through one of the 3 toroids, the number of the solutions changes by 1.•As the above 1 and 2, the 3 toroids are critical surfaces to determining the number of solutions of the P3P problem.

论文关键词：P3P problem,Multi-solution phenomenon,Root-solution relation,Toroid

论文评审过程：Received 27 December 2019, Revised 7 June 2020, Accepted 14 August 2020, Available online 19 September 2020, Version of Record 1 October 2020.

论文官网地址：https://doi.org/10.1016/j.imavis.2020.104009