A PnP Algorithm for Two-Dimensional Pose Estimation

arXiv:2312.08488v3 Announce Type: replace-cross
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 …

abstract accuracy algorithm algorithms arxiv cs.cv cs.ro dimensionality improvements instance performance platforms pnp robotics search space type