MLPnP - A Real-Time Maximum Likelihood Solution to the Perspective-n-Point Problem

@article{Urban2016MLPnPA,
  title={MLPnP - A Real-Time Maximum Likelihood Solution to the Perspective-n-Point Problem},
  author={Steffen Urban and Jens Leitloff and Stefan Hinz},
  journal={CoRR},
  year={2016},
  volume={abs/1607.08112}
}
In this paper, a statistically optimal solution to the Perspective-n-Point (PnP) problem is presented. Many solutions to the PnP problem are geometrically optimal, but do not consider the uncertainties of the observations. In addition, it would be desirable to have an internal estimation of the accuracy of the estimated rotation and translation parameters of the camera pose. Thus, we propose a novel maximum likelihood solution to the PnP problem, that incorporates image observation… CONTINUE READING
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