Linear Pose Estimation from Points or Lines

By Adnan I. Ansar, Kostas Daniilidis. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2002

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A novel parametrization of the perspective-three-point problem for a direct computation of absolute camera position and orientation (2011, background): “[17]</ref>, Haralick et al. (1991) [15], DeMenthon and Davis (1995) [4] [5], Quan and Lan (1999) [28], Triggs (1999) [32], Fiore (2001) [9], Ansar and Daniilidis (2003) [2], and Lepetit et al. (2009) [22]—this last one, in particular, also works for deformable objects.”
Revisiting the PnP Problem: A Fast, General and Optimal Solution (2013, methodology): “To relax this restriction, two linear solutions were presented in [18] and [1], with respective computational complexity O(n5) and O(n8), which are, at least in theory, applicable to general PnP with n ≥ 4.”
Robust Pose Estimation from a Planar Target (2006, unknown): “Ç”
Accurate Non-Iterative O(n) Solution to the PnP Problem (2007, methodology): “Among those that handle arbitrary values of n [8, 6, 13, 11, 23, 28, 7, 2, 9], the lowest-complexity one [7] is O(n(2)) but has been shown to be unstable for noisy”
A Robust O(n) Solution to the Perspective-n-Point Problem (2012, background): “Ansar and Daniilidis presented linear solutions for both n points and n lines [19].”
A Direct Least-Squares (DLS) method for PnP (2011, methodology): “We hereafter present simulation results which compare the accuracy of our method to the leading P n P approaches: • NPL: The N-Point Linear (NPL) method of Ansar and Daniilidis [1].”