Optimal DLT-based Solutions for the Perspective-n-Point
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Abstract (arXiv)
We propose a modified normalized direct linear transform (DLT) algorithm for solving the perspective-n-point (PnP) problem with much better behavior than the conventional DLT. The modification consists of analytically weighting the different measurements in the linear system with a negligible increase in computational load. Our approach exhibits clear improvements -- in both performance and runtime -- when compared to popular methods such as EPnP, CPnP, RPnP, and OPnP. Our new non-iterative solution approaches that of the true optimal found via Gauss-Newton optimization, but at a fraction of the computational cost. Our optimal DLT (oDLT) implementation, as well as the experiments, are released in open source.
Key facts. Cited by 2 papers in the map (data through 14 Oct 2026). Builds on 5 of its 36 references that are in the map. First posted on arXiv 18 Oct 2024.
Builds on
5 of 36 references.
References · 5
- 2021Uncertainty-Aware Camera Pose Estimation from Points and Linescited by 17
- 2016MLPnP - A Real-Time Maximum Likelihood Solution to the Perspective-n-Point Problemcited by 13
- 2022AstroVision: Towards Autonomous Feature Detection and Description for Missions to Small Bodies Using Deep Learningcited by 10
- 2022Absolute Triangulation Algorithms for Space Explorationcited by 5
- 2022CPnP: Consistent Pose Estimator for Perspective-n-Point Problem with Bias Eliminationcited by 3
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Citing papers per year: 2026: 2.
2 papers.