Vector method for pose estimation with un-calibrated camera
未标定摄像机姿态估计的矢量求解算法*

This paper proposed an algorithm for pose estimation with an un-calibrated camera based on vector operation.Firstly,it researched the P5P problem,formed five control points into four vectors.According to the process of image formation,the constraint equations in camera pose and intrinsic parameter were set up linearly through vector operation of control points.Then,simplified and determined these equations in terms of linear theory and the orthogonal relation of rotation R.As a result,on the un-calibrated P...