Parameter estimation in the three-point perspective projection problem in computer vision

A mathematical solution to parameter estimation in the 3-D perspective projection problem is presented. In this paper, the Bairstow method and the direct solution method, which can solve the roots of a fourth order polynomial equation, are used to evaluate the three-point perspective pose estimation problem. When the known triangle size increases, the error will also increase. To avoid this numerical error, the round-off error generated from the computation process needs to be reduced. Most of the roundoff errors came from the cosines law which was used to obtain the perspective projection points´ polynomial equation. Here, the authors developed a new method to solve this problem directly without using sinusoidal functions. The evaluation results and advantages are included in a summary