The authors derive a convex semidefinite relaxation for the MLE of PnP by introducing only necessary auxiliary variables and adding redundant constraints that preserve the problem's sparsity.
Certifiable solver for camera pose estimation runs in real time
PnP* provides provably correct camera pose by solving a convex relaxation that is exact under moderate noise, exploiting chordal sparsity for efficiency.
Academic
Bang-Shien Chen · Caitrin E. Eaton · David M. Rosen
Northeastern University · Draper
Research Digest··2 min read
The authors propose PnP*, the first practical solver that directly optimizes the Maximum Likelihood Estimation (MLE) for Perspective-n-Point (PnP) and returns a certifiably globally optimal solution.
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