Research map / Learning theory and algorithms / Combinatorial and search optimization
An Efficient Algebraic Solution to the Perspective-Three-Point Problem
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Replace distance-first pose recovery with direct algebraic orientation solving | P3P solver · P3P nominal simulation | position mean error: 1.84E-08 -> 1.66E-10 | Helped |
| Replace distance-first pose recovery with direct algebraic orientation solving | P3P solver · P3P nominal simulation | orientation mean error: 4.89E-10 -> 5.30E-12 | Helped |
| Apply Newton root polishing to the quartic roots (ablation) | Proposed method · P3P nominal simulation | position mean error: 1.66E-10 -> 5.07E-11 | Helped |
| Apply Newton root polishing to the quartic roots (ablation) | Proposed method · P3P nominal simulation | orientation mean error: 5.30E-12 -> 1.53E-13 | Helped |
| Omit Newton root polishing (ablation) | Proposed method · P3P randomly generated problems | average execution time: 0.54 μs -> 0.52 μs | Helped |
| Use the proposed direct algebraic solver instead of Kneip's method | P3P solver · P3P randomly generated problems | average execution time: 1.3 μs -> 0.54 μs | Helped |
| Avoid unstable tangent/cotangent intermediates using direct algebraic orientation solving | P3P solver · P3P close to singular case 1 (collinear landmarks) | position median error: 7.13E-15 -> 5.16E-15 | Helped |
| Avoid unstable tangent/cotangent intermediates using direct algebraic orientation solving | P3P solver · P3P close to singular case 2 (coincident bearings) | orientation median error: 6.07E-14 -> 1.75E-14 | Helped |
Closest papers by meaning
- Affine Perspective-Three-Point Problem (CVPR 2026 · similarity 0.90)
- Revisiting the P3P Problem (CVPR 2023 · similarity 0.88)
- Practical Solutions to the Relative Pose of Three Calibrated Cameras (CVPR 2025 · similarity 0.87)
- Efficient Solution of Point-Line Absolute Pose (CVPR 2024 · similarity 0.85)
- Three-view Focal Length Recovery From Homographies (CVPR 2025 · similarity 0.84)
- Camera Resection from Known Line Pencils and a Radially Distorted Scanline (CVPR 2025 · similarity 0.83)
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