用1841年老方法解决相机位姿问题，又快又准。
P3P Made Easy
- 基于古法代数求解器，直接解四次方程。
- 精度和速度媲美最新方法，运行时间极低。
- 适合需要轻量级、高效率位姿估计的场景。
我们重新审视经典的透视三点（P3P）问题，即从三个2D-3D对应点恢复已标定相机的绝对位姿。尽管长期以来已知P3P可转化为一个具有解析简单、计算高效系数的四次多项式，但这一优雅形式在现代文献中被严重忽视。基于追溯至Grunert（1841）的理论基础，我们提出一种紧凑的代数求解器，其精度与运行时间均达到当前最优水平。结果表明，结合现代实现思路，这一经典公式依然极具竞争力，提供了简洁性、效率与准确性的绝佳平衡。
原文摘要 · Abstract (English)
We revisit the classical Perspective-Three-Point (P3P) problem, which aims to recover the absolute pose of a calibrated camera from three 2D-3D correspondences. It has long been known that P3P can be reduced to a quartic polynomial with analytically simple and computationally efficient coefficients. However, this elegant formulation has been largely overlooked in modern literature. Building on the theoretical foundation that traces back to Grunert's work in 1841, we propose a compact algebraic solver that achieves accuracy and runtime comparable to state-of-the-art methods. Our results show that this classical formulation remains highly competitive when implemented with modern insights, offering an excellent balance between simplicity, efficiency, and accuracy.
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