P3P问题的危险圆柱为什么是危险的

？ThePnPproblemisawidelyusedtechniqueforposedeterminationincomputervisioncommunity,andfindingoutgeometricconditionsofmultiplesolutionsistheultimateandmostdesirablegoalofthemulti-solutionanalysis,whichisalsoakeyresearchissueoftheproblem.Inthispaper,weprovethatgiven3controlpoints,ifthecamera'sopticalcenterliesontheso-called"dangercylinder"andisenoughfarfromthesupportingplaneofcontrolpoints,thecorrespondingP3Pproblemmusthave3positivesolutions.Thisresultcanbringsomenewinsightsintoabetterunderstandingofthemulti-solutionproblem.Forexample,itisshownintheliteraturethatthesolutionoftheP3Pproblemisinstableiftheopticalcenterliesonthisdangercylinder,wethinksuchoccurrenceoftriple-solutionistheprimarysourceofthisinstability.