New Algorithms for the Perspective-Three-Point Problem

In this paper, two approaches are used to solve thePerspective-Three-Point Problem (P3P): the symbolic computationapproach and the geometric approach. In the symbolic computationapproach, we use Wu-Ritt's zero decomposition algorithm togive a complete triangular decomposition for the P3P equationsystem. This decomposition provides the first complete analyticalsolution to the P3P problem. In the geometric approach, we givesome pure geometric criteria for the number of real physicalsolutions. The complete solution classification for twospecial cases with three and four parameters is also given.