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Method has been introduced by F.Moreno-Noguer, V.Lepetit and P.Fua in the paper “EPnP: Efficient Perspective-n-Point Camera Pose Estimation”.

Abstract We propose a non-iterative solution to the P n P problem—the estimation of the pose of a calibrated camera from n 3D-to-2D point correspondences—whose computa- tional complexity grows linearly with n . This is in contrast to state-of-the-art methods that are O(n 5 ) or even O(n 8 ) , without being more accurate. Our method is applicable for all n ≥ 4

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