P3P Made Easy

Seong Hun Lee, Patrick Vandewalle, Javier Civera

Abstract: We present a novel algebraic solution to the Perspective-Three-Point (P3P) problem, which aims to recover the absolute pose of a calibrated camera from three 2D-3D correspondences. Our method reformulates the problem into a quartic polynomial with coefficients that are analytically simple and computationally efficient. Despite its simplicity, the proposed solver achieves accuracy and runtime performance comparable to state-of-the-art methods. Extensive experiments on synthetic datasets validate its robustness and efficiency. This combination of simplicity and performance makes our solver appealing for both real-time systems and educational contexts, where interpretability and reliability are critical.

External IDs:dblp:journals/corr/abs-2508-01312