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SolvePnP(), flags: which is the best method?

asked 2013-11-08 09:55:25 -0500

Davinci gravatar image

updated 2013-11-08 09:55:41 -0500

The solvePnP() function can use different methods:

  • CV_ITERATIVE
  • CV_P3P
  • CV_EPNP

And there is also solvePnPRansac. I can find some papers describing the methods but not a real comparison of all methods. Is there somewhere a study that compares all these methods and gives the best method per situation? Or has someone some recommendations?

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answered 2014-02-10 03:43:17 -0500

Guido gravatar image

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.

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Asked: 2013-11-08 09:55:25 -0500

Seen: 3,227 times

Last updated: Feb 10 '14