Semi-closed method for P3P with high numerical precision

Estimating 3D object's pose parameters from 2D monocular image with limited number of reference points(known as PnP problem) is a classical difficult problem in computer vision research.When the number of reference points n6,PnP problem is highly nonlinear and multiple feasible solutions may exist.State-of-art methods for solving PnP problem mainly divide into two categories: iterative methods and closed-form methods.Iterative methods are highly precise,but can converge to only one of all the feasible solutions at a time;whereas closed-form methods can retrieve all the feasible solutions at a time,but are inferior to iterative methods in numerical precision and stability.This article proposed a new semi-closed method for P3P problem,which had high numerical precision.And proved the effectiveness of proposed method with thorough experiments.