MATLAB File Help: cv.solvePnP Index
cv.solvePnP

Finds an object pose from 3D-2D point correspondences

[rvec, tvec, success] = cv.solvePnP(objectPoints, imagePoints, cameraMatrix)
[...] = cv.solvePnP(..., 'OptionName', optionValue, ...)

Input

Output

Options

The function estimates the object pose given a set of object points, their corresponding image projections, as well as the camera matrix and the distortion coefficients.

References

[gao2003complete]:

X.S. Gao, X.R. Hou, J. Tang, H.F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem", IEEE Trans. on PAMI, vol. 25, No. 8, p. 930-943, August 2003.

[morenoepnp]:

F. Moreno-Noguer, V. Lepetit and P. Fua; "EPnP: Efficient Perspective-n-Point Camera Pose Estimation".

[lepetit2009epnp]:

V. Lepetit, F. Moreno-Noguer, P. Fua; "EPnP: An accurate O(n) solution to the PnP problem". IJCV, vol. 81, No. 2, p. 155-166, 2009

[hesch2011direct]:

Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP". IEEE International Conference on Computer Vision, p. 383-390, 2011.

[penate2013exhaustive]:

A. Penate-Sanchez, J. Andrade-Cetto, F. Moreno-Noguer; "Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation". IEEE Trans. on PAMI, vol. 35, No. 10, p. 2387-2400, 2013.

See also