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Machine Vision, 3rd Edition by E. R. Davies

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Tackling the Perspective n-point Problem

It is possible to recognize 3-D objects from very few point features, even when they are seen in a single view. In fact, the pose of the 3-D object can also be ascertained from a single view. However, ambiguities of interpretation do arise, and this chapter discusses the disambiguation problem.

Look out for:

• the distinction between weak and full perspective projection.

• how the “perspective inversion” type of ambiguity arises under weak perspective projection.

• how more serious ambiguities arise under full perspective projection.

• how full perspective projection has the capability to provide more interpretive information than weak perspective projection.

• how coplanarity can impose quite strong ...

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