A PnP Algorithm for Two-Dimensional Pose Estimation

Joshua Wang
12/13/2023
cs.ROcs.CV

No official code found. Best implementation: 25wangj/2DPnPToolbox (3 stars, last commit 2024-02-10).

Abstract

We propose a PnP algorithm for a camera constrained to two-dimensional motion (applicable, for instance, to many wheeled robotics platforms). Leveraging this assumption allows accuracy and performance improvements over 3D PnP algorithms due to the reduction in search space dimensionality. It also reduces the incidence of ambiguous pose estimates (as, in most cases, the spurious solutions fall outside the plane of movement). Our algorithm finds an approximate solution by solving a polynomial system and refines its prediction iteratively to minimize the reprojection error. The algorithm compares favorably to existing 3D PnP algorithms in terms of accuracy, performance, and robustness to noise.

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Code Implementations(1)

25wangj/2DPnPToolboxCommunity100%
30MATLAB2 years ago

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Cite this paper

@article{wang2023algorithm,
  title  = {A PnP Algorithm for Two-Dimensional Pose Estimation},
  author = {Joshua Wang},
  year   = {2023},
  eprint = {2312.08488},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2312.08488v3}
}

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