{"paper":{"title":"Optimal DLT-based Solutions for the Perspective-n-Point","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"John A. Christian, S\\'ebastien Henry","submitted_at":"2024-10-18T04:04:58Z","abstract_excerpt":"We propose a modified normalized direct linear transform (DLT) algorithm for solving the perspective-n-point (PnP) problem with much better behavior than the conventional DLT. The modification consists of analytically weighting the different measurements in the linear system with a negligible increase in computational load. Our approach exhibits clear improvements -- in both performance and runtime -- when compared to popular methods such as EPnP, CPnP, RPnP, and OPnP. Our new non-iterative solution approaches that of the true optimal found via Gauss-Newton optimization, but at a fraction of t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.14164","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2410.14164/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}