A Direct Least-Squares (DLS) method for PnP

@article{Hesch2011ADL,
  title={A Direct Least-Squares (DLS) method for PnP},
  author={Joel A. Hesch and Stergios I. Roumeliotis},
  journal={2011 International Conference on Computer Vision},
  year={2011},
  pages={383-390}
}
In this work, we present a Direct Least-Squares (DLS) method for computing all solutions of the perspective-n-point camera pose determination (PnP) problem in the general case (n ≥ 3). Specifically, based on the camera measurement equations, we formulate a nonlinear least-squares cost function whose optimality conditions constitute a system of three third-order polynomials. Subsequently, we employ the multiplication matrix to determine all the roots of the system analytically, and hence all… CONTINUE READING
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