This repo contains matlab code from M. Lourakis and G. Terzakis, "A Globally Optimal Method for the PnP Problem with MRP Rotation Parameterization", 25th International Conference on Pattern Recognition (ICPR), 2021.
The code solves the perspective-n-point problem (PnP).
For details on the Modified Rodrigues Parameters (MRPs) representation for 3D rotation, see this.
For a fast PnP solver written in C++, see SQPnP.
GPL
Development has received funding from the European Union’s Horizon 2020 Research and Innovation program under grant agreement numbers 826506 (sustAGE -- https://www.sustage.eu/) and 101017151 (FELICE -- https://www.felice-project.eu/).
If you use this code in your published work, please cite the following paper:
@inproceedings{Lourakis2021optDLSmrp,
author={Lourakis, Manolis and Terzakis, George},
title={A Globally Optimal Method for the {PnP} Problem with {MRP} Rotation Parameterization},
booktitle={International Conference on Pattern Recognition (ICPR)},
publisher={IEEE},
pages={3058--3063},
year={2021},
}