EPnP: Efficient Perspective-n-Point Camera Pose Estimation

The code for the EPnP algorithm described in the articles below can be found at at our git repository or downloaded here: Matlab Code, C++ code.

EPnP: An Accurate O(n) Solution to the PnP Problem

V. Lepetit; F. Moreno-Noguer; P. Fua 

International Journal Of Computer Vision. 2009. Vol. 81, p. 155-166. DOI : 10.1007/s11263-008-0152-6.

Accurate non-iterative O(n) solution to the PnP problem

F. Moreno-Noguer; V. Lepetit; P. Fua 

2007. 11th IEEE International Conference on Computer Vision, Rio de Janeiro, BRAZIL, Oct 14-21, 2007. p. 2252-2259.