Pose estimation for generalized imaging device via solving non-perspective N point problem

Abstract

In this paper we present a systematic method for pose estimation of such a generalized imaging device. We reformulate it as a non-perspective n point (NPnP) problem. The case with exact solutions, for n=3, is investigated comprehensively. Approximate solutions can also be found for n>3 with our approach in a least-squared-error manner. The proposed method can be used not only to perspective imaging devices, but also non-perspective ones.