Globally-Optimal Inlier Set Maximisation for Simultaneous Camera Pose and Feature Correspondence

@article{Campbell2017GloballyOptimalIS,
  title={Globally-Optimal Inlier Set Maximisation for Simultaneous Camera Pose and Feature Correspondence},
  author={Dylan Campbell and Lars Petersson and Laurent Kneip and Hongdong Li},
  journal={2017 IEEE International Conference on Computer Vision (ICCV)},
  year={2017},
  pages={1-10}
}
Estimating the 6-DoF pose of a camera from a single image relative to a pre-computed 3D point-set is an important task for many computer vision applications. Perspective-n-Point (PnP) solvers are routinely used for camera pose estimation, provided that a good quality set of 2D-3D feature correspondences are known beforehand. However, finding optimal correspondences between 2D key-points and a 3D point-set is non-trivial, especially when only geometric (position) information is known. Existing… 
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