Accurate Non-Iterative O(n) Solution to the PnP Problem

@article{MorenoNoguer2007AccurateNO,
  title={Accurate Non-Iterative O(n) Solution to the PnP Problem},
  author={Francesc Moreno-Noguer and Vincent Lepetit and Pascal Fua},
  journal={2007 IEEE 11th International Conference on Computer Vision},
  year={2007},
  pages={1-8}
}
We propose a non-iterative solution to the PnP problem-the estimation of the pose of a calibrated camera from n 3D-to-2D point correspondences-whose computational complexity grows linearly with n. This is in contrast to state-of-the-art methods that are O(n5) or even O(n8), without being more accurate. Our method is applicable for all nges4 and handles properly both planar and non-planar configurations. Our central idea is to express the n 3D points as a weighted sum of four virtual control… CONTINUE READING
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