Optimum fiducials under weak perspective projection

We investigate how a given fixed number of points should be located in spac e so that the pose of a camera viewing them from unknown locations can be e stimated with the greatest accuracy. We show that optimum solutions are obt ained when the points form concentric complete regular polyhedra. For the c ase of optimal configurations we provide a worst-case error analysis and us e it to analyze the effects of weak perspective approximation to true persp ective viewing. Comprehensive computer simulations validate the theoretical results.