CPnP: Consistent Pose Estimator for Perspective-n-Point Problem with Bias Elimination.

Guangyang Zeng Shiyu Chen Biqiang Mu Guodong Shi Junfeng Wu

Published in: ICRA (2023)

Keyphrases

pose estimation
variance reduction
viewpoint
pose determination
least squares
relative pose
d objects
bias variance
data sets
estimation algorithm
globally optimal