Article

PnP*: A Certifiable Solver for Perspective-n-Point

The authors propose PnP*, which they describe as the first practical certifiable solver that guarantees efficient computation while returning a globally optimal camera pose. The paper proves that the convex relaxation is exact under moderate noise, and uses chordal sparsity patterns and quotient ring reduction to make the relaxation tractable and scalable. Numerical validation shows that PnP* returns provably correct camera poses at over 10 Hz.

Part of the event: PnP*: A Certifiably Globally Optimal Camera Pose Solver

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