Computation of the Probability on the Number of Solution for the P3P Problem

  • Jianliang Tang
  • Xiao-Shan Gao
  • Wensheng Chen
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 345)


The perspective-n-point (PnP) problem is to find the position and orientation of a camera with respect to a scene object from n correspondence points and is a widely used technique for pose determination in the computer vision community. This paper studies the multi-solution phenomenon for the perspective 3-point (P3P) problem. For the P3P problem, we give: 1) an algorithm to compute the number of solutions based on a Monte-Carlo type method; 2) the probabilities for the P3P problem to have zero, one, two, three and four solutions using the algorithm.


IEEE Transaction Control Point Equation System Machine Intelligence Camera Calibration 
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© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Jianliang Tang
    • 1
    • 2
  • Xiao-Shan Gao
    • 2
  • Wensheng Chen
    • 1
  1. 1.College of ScienceShenzhen UniversityShenzhenP.R.China
  2. 2.Key Laboratory of Mathematics MechanizationCASBeijingP.R.China

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