The solution distribution analysis of the P3P problem

The PnP problem is a widely used method in pose determination since it is a single-view based approach and does not involve point correspondences across image, a difficult task in computer vision. The multiplicity of its solutions is an important issue, and it is sometimes indispensible to know exactly how many possible solutions exist in real applications. In this work, this issue will be investigated in terms of P3P problem, and the results could provide some insight on the problem of the multiplicity of the PnP problem in general, and could be of reference to the people in the field.