%0 Journal Article
%T P3P问题的危险圆柱为什么是危险的
%A 张彩霞
%A 胡占义
%J 自动化学报
%P 504-511
%D 2006
%X ？ThePnPproblemisawidelyusedtechniqueforposedeterminationincomputervisioncommunity,andfindingoutgeometricconditionsofmultiplesolutionsistheultimateandmostdesirablegoalofthemulti-solutionanalysis,whichisalsoakeyresearchissueoftheproblem.Inthispaper,weprovethatgiven3controlpoints,ifthecamera'sopticalcenterliesontheso-called"dangercylinder"andisenoughfarfromthesupportingplaneofcontrolpoints,thecorrespondingP3Pproblemmusthave3positivesolutions.Thisresultcanbringsomenewinsightsintoabetterunderstandingofthemulti-solutionproblem.Forexample,itisshownintheliteraturethatthesolutionoftheP3Pproblemisinstableiftheopticalcenterliesonthisdangercylinder,wethinksuchoccurrenceoftriple-solutionistheprimarysourceofthisinstability.
%K TheP3Pproblem
%K thedangercylinder
%K instabilityofsolution
%U http://www.aas.net.cn/CN/abstract/abstract14390.shtml