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Proceedings of the British Machine Vision Conference 2014
We propose a real-time and accurate solution to the Perspective-n-Point (PnP) problem -estimating the pose of a calibrated camera from n 3D-to-2D point correspondencesthat exploits the fact that in practice the 2D position of not all 2D features is estimated with the same accuracy. Assuming a model of such feature uncertainties is known in advance, we reformulate the PnP problem as a maximum likelihood minimization approximated by an unconstrained Sampson error function, which naturallydoi:10.5244/c.28.83 fatcat:auvlz3nzerctvlngjdwojdz7ee