The Perspective-n-Point Problem for Catadioptric Sensors: an analytical Approach

The perspective-N-point problem is a well known issue in computer vision. It consists in the determination of the distance between the camera and a set of points well known in an object coordinate space. This problem has been extensively treated in the literature and is still opened. Many solutions already exist. All these approaches consider only common planar camera. We propose, with a new formulation, to extend this problem to non linear imaging sensors: catadioptric panoramic sensors. The proposed approach permits to get a strictly analytical solution to the perspective-N-point problem usable with this kind of sensors.