Xinyue Xie

Depth-Based Efficient PnP: A Rapid and Accurate Method for Camera Pose Estimation

This letter presents a novel approach, DEPnP (Depth-based Efficient PnP), addressing the Perspective-n-Point (PnP) problem crucial in vision-based navigation and SLAM (Simultaneous Localization and Mapping) in robotics and automation, which estimates the pose of a calibrated camera by observing the