4.6 Article

A Novel Method for Intrinsic and Extrinsic Parameters Estimation by Solving Perspective-Three-Point Problem with Known Camera Position

Journal

APPLIED SCIENCES-BASEL
Volume 11, Issue 13, Pages -

Publisher

MDPI
DOI: 10.3390/app11136014

Keywords

perspective-three-point problem; intrinsic and extrinsic parameters estimation; new camera system; unique solution

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A novel method for intrinsic and extrinsic parameter estimation based on three 2D-3D point correspondences with known camera position is proposed in this paper. By building a new virtual camera system and converting the problem to a P3P problem, the multi-solution problem is addressed successfully.
The aim of the perspective-three-point (P3P) problem is to estimate extrinsic parameters of a camera from three 2D-3D point correspondences, including the orientation and position information. All the P3P solvers have a multi-solution phenomenon that is up to four solutions and needs a fully calibrated camera. In contrast, in this paper we propose a novel method for intrinsic and extrinsic parameter estimation based on three 2D-3D point correspondences with known camera position. Our core contribution is to build a new, virtual camera system whose frame and image plane are defined by the original 3D points, to build a new, intermediate world frame by the original image plane and the original 2D image points, and convert our problem to a P3P problem. Then, the intrinsic and extrinsic parameter estimation is to solve frame transformation and the P3P problem. Lastly, we solve the multi-solution problem by image resolution. Experimental results show its accuracy, numerical stability and uniqueness of the solution for intrinsic and extrinsic parameter estimation in synthetic data and real images.

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