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In terms of precision and speed, CV_EPNP is supposed to be a good compromise. Take a look at "EPnP: Accurate Non-Iterative O(n) Solution to the PnP Problem" by Vincent Lepetit, Francesc Moreno-Noguer and Pascal Fua for a detailed comparison with other methods.

However, as far as I am concerned, I could never get it to work properly. The only method that gives me coherent results is CV_ITERATIVE (default one). And if you take a look at the "Mastering Opencv" book, they always use the default version of solvePnP.

USe SolvePnPRansac if you have noisy points and possibly wrong matches between 2D and 3D points.