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City Dundee / Leeds / Warwick / Berlin / Providence / Colorado Springs / Arlington / / Company MIT Lincoln Laboratories / Springer-Verlag New York Inc. / Intel / / Country Germany / United States / United Kingdom / Scotland / / Currency pence / / IndustryTerm non-perspective pose algorithms / direct solution / direct solutions / linear solution / minimal solutions / iterative solutions / man machine graphical communications system / multi-camera systems / generalized multi-camera algorithms / real-time applications / non-perspective orientation computation algorithms / least-squares solution / basis solutions / non-iterative n-point solution / n-point algorithms / gP3P algorithm / non-iterative linear solution / possible solutions / n-point solutions / point isP / absolute orientation algorithms / minimal algorithms / non-iterative n-point algorithm / matrix solution / dot-products / linear n-point algorithms / camera-systems / gPnP solution / visual odometry algorithm / non-perspective geometric solutions / gPnP algorithm / reference minimal solution / potential applications / non-linear minimal algorithms / minimal solution / ePnP algorithm / non-central algorithms / Wrong solutions / non-iterative linear-complexity ePnP algorithm / well-established single camera solutions / n-point solution / notable algorithms / gPnP algorithms / employed geometric algorithms / Exterior orientation algorithms / valid solutions / analytic solution / camera algorithms / potential robotic applications / non-iterative solution / numerical solution / fundamental camera pose computation algorithms / / Organization MIT / Roland Siegwart Autonomous Systems Lab / European Union / Swiss National Science Foundation / Pattern Analysis and Machine Intelligence / / Person Chu-Song Chen / A. Neubeck / Herbert Wichmann / David A. Cox / Sarah Tariq / L. Van Gool / Frank Dellaert / Wen-Yan Chang / John Little / A. Ess / Roland Siegwart / Song Chen / Arthur Cayley / Paul Furgale / / Position RT / / PublishedMedium IEEE Transactions on Pattern Analysis and Machine Intelligence / Communications of the ACM / / Technology LAN / cbT / Remote Sensing / P3P algorithm / central and non-central algorithms / generalized algorithms / gP3P algorithm / employed geometric algorithms / proposed algorithms / non-perspective pose algorithms / non-iterative n-point algorithm / non-perspective 3-point and n-point algorithms / Image Processing / camera algorithms / NPnP algorithm / non-iterative linear-complexity ePnP algorithm / n-point algorithms / NP3P algorithm / gPnP algorithms / Machine Vision / visual odometry algorithm / reference PnP algorithm / non-linear minimal algorithms / generalized multi-camera algorithms / linear n-point algorithms / non-perspective orientation computation algorithms / reference P3P algorithm / fundamental camera pose computation algorithms / Direct Linear Transformation algorithm / ISP / gPnP algorithm / simulation / Exterior orientation algorithms / absolute orientation algorithms / minimal algorithms / presented algorithms / ePnP algorithm / / SocialTag 
Using Multi-Camera Systems in Robotics: Efficient Solutions to the NPnP Problem Laurent Kneip, Paul Furgale, and Roland Siegwart Autonomous Systems Lab, ETH Zurich, Switzerland Abstract— This paper introduces two novel