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What are requirements of different algorithms available for solvePnP in opencv?

asked 2017-05-18 00:48:28 -0600

djkpA gravatar image

updated 2017-05-18 00:49:48 -0600

Hello I am trying to get the Pose of known geometry object and I am using opencv3.2.0 ,solvePnP to find that.

While searching in google I found that there are several algorithms for solvePnP implementation which we are passing as flag parameter to that function. But I did not find the requirements of each algorithm and when should I use which and I am trying to track the in real time.

Flags available for solvePnP:




SOLVEPNP_DLS (in opencv3)

SOLVEPNP_UPNP (in opencv 3)

What are the minimum no of points required for each algorithm?

Can those points be coplanar and noncoplanar ?

What is the time complexity and accuracy of each algorithm ?

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answered 2017-05-18 01:11:35 -0600

LBerger gravatar image

Use google and read bibliography :

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

and go on ..

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Asked: 2017-05-18 00:48:28 -0600

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Last updated: May 18 '17