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PnP*: A certifiable solver for Perspective-n-Point
Not provided in the abstract
computer visioncamera pose estimationoptimizationmaximum likelihood estimation
2610.31797
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1h ago80%
Abstract
PnP* is a practical solver for estimating camera pose from 3D-2D correspondences that guarantees efficient computation and certifiable globally optimal solutions.
Reality Card
Core Claim
PnP* is the first practical solver that guarantees efficient computation and returns a certifiable globally optimal solution for the Maximum Likelihood Estimation of Perspective-n-Point.
Method / Result
PnP* returns a provably correct camera pose at over 10 Hz.
Limitations
The paper does not specify limitations or reproducibility concerns.
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