Skip to Main content Skip to Navigation
New interface
Conference papers

An Analytic Solution for the Perspective 4-Point Problem

Radu Horaud 1, 2 Bernard Conio 1 Olivier Leboulleux 1 Bernard Lacolle 3 
2 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : The perspective n-point (PnP) problem is the problem of finding the position and orientation of a camera with respect to a scene object from n correspondence points. The authors propose an analytic solution for the perspective 4-point problem. The solution is found by replacing the four points with a pencil of three lines and by exploring the geometric constraints available with the perspective camera model. The P4P problem is cast into the problem of solving a biquadratic polynomial equation in one unknown.
Document type :
Conference papers
Complete list of metadata
Contributor : Perception team Connect in order to contact the contributor
Submitted on : Thursday, June 16, 2011 - 2:44:48 PM
Last modification on : Wednesday, May 4, 2022 - 12:12:03 PM
Long-term archiving on: : Saturday, September 17, 2011 - 2:20:34 AM


Publisher files allowed on an open archive




Radu Horaud, Bernard Conio, Olivier Leboulleux, Bernard Lacolle. An Analytic Solution for the Perspective 4-Point Problem. Proceedings Computer Vision and Pattern Recognition, Jun 1989, San-Diego, United States. pp.500--507, ⟨10.1109/CVPR.1989.37893⟩. ⟨inria-00589992⟩



Record views


Files downloads