Optimal Solutions of the PNP Problem in Computer Vision
计算机视觉的PNP问题的最优解

This paper gives a comprehensive treatment of the PNP (Perspective-N-Point) problem in computer vision: find the 3-D motion parametersof a viewed object relative to a camera from the observed image points of n known feature points. This problem is essentially one of nonlinear optimization due to the image noise. In this paper, a closed-form solution is developed, and several methods to combat the image noise are presented. The simulation results show that the approaches given in this paper hold great promise in application.