A Conic Transformation Approach for Solving the Perspective-Three-Point Problem

Haidong Wu; Snehal Bhayani; Janne Heikkilä

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arXiv · 2504.01620

A Conic Transformation Approach for Solving the Perspective-Three-Point Problem

Haidong Wu·Snehal Bhayani·Janne Heikkilä

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Abstract

We propose a conic transformation method to solve the Perspective-Three-Point (P3P) problem. In contrast to the current state-of-the-art solvers, which formulate the P3P problem by intersecting two conics and constructing a degenerate conic to find the intersection, our approach builds upon a new formulation based on a transformation that maps the two conics to a new coordinate system, where one of the conics becomes a standard parabola in a canonical form. This enables expressing one variable in terms of the other variable, and as a consequence, substantially simplifies the problem of finding the conic intersection. Moreover, the polynomial coefficients are fast to compute, and we only need to determine the real-valued intersection points, which avoids the requirement of using computationally expensive complex arithmetic. While the current state-of-the-art methods reduce the conic intersection problem to solving a univariate cubic equation, our approach, despite resulting in a quartic equation, is still faster thanks to this new simplified formulation. Extensive evaluations demonstrate that our method achieves higher speed while maintaining robustness and stability comparable to state-of-the-art methods.

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BibTeX RIS

Haidong Wu, Snehal Bhayani, Janne Heikkilä. 2025-04-02. A Conic Transformation Approach for Solving the Perspective-Three-Point Problem. https://arxiv.org/abs/2504.01620

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