Finding degenerate conics by in-plane rotations: A direct perspective-three-point solver

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Yi Zhang, Baoqiong Wang, Yueqiang Zhang, Zechun Lin, Wenjun Chen, Xiaolin Liu, Qifeng Yu

Published: 2025, Last Modified: 08 Nov 2025Robotics Auton. Syst. 2025EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: Highlights•A P3P method bridging the gap between the direct and degenerate-conic-based methods.•The first P3P method that provides geometric interpretation of the degenerate conics.•A P3P method with superior efficiency and noise-robustness.