SHAPE: Linear-Time Camera Pose Estimation With Quadratic Error-Decay

24 Feb 2016Alireza GhasemiAdam ScholefieldMartin Vetterli

We propose a novel camera pose estimation or perspective-n-point (PnP) algorithm, based on the idea of consistency regions and half-space intersections. Our algorithm has linear time-complexity and a squared reconstruction error that decreases at least quadratically, as the number of feature point correspondences increase... (read more)

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