An Improved Orthogonal Iterative Algorithm for Monocular Camera Pose Estimation

Abstract

In this paper, we focus on the classical perspective-n-point(PnP) problem in monocular camera pose estimation and propose an improved orthogonal iterative algorithm. The key idea is to integrate the steps in each iteration, and extract the repetitive calculation of each iteration. The repetitive computation in each iteration can be abstracted and done before iteration process. The computational complexity of each iteration is reduced from toO(n) to O(1) . So that, more iterations can be done in a short time and the accuracy is improved as well. The simulation results and real experiments results show the efficiency and accuracy of our entry accepted iterative algorithms, our algorithm can maintain high pose estimation accuracy. This algorithm is more likely to converge to correct pose in a short run time, which makes it more applicable for real time applications.