Abstract

A large number of absolute pose algorithms have been pre- sented in the literature. Common performance criteria are computational complexity, geometric optimality, global optimality, structural degenera- cies, and the number of solutions. The ability to handle minimal sets of correspondences, resulting solution multiplicity, and generalized cameras are further desirable properties. This paper presents the first PnP solu- tion that unifies all the above desirable properties within a single algo- rithm. We compare our result to state-of-the-art minimal, non-minimal, central, and non-central PnP algorithms, and demonstrate universal ap- plicability, competitive noise resilience, and superior computational effi- ciency. Our algorithm is called Unified