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The toolbox is a collection of PnP methods for Matlab. It can be used to benchmark algorithms.
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ASPnP first commit Jun 28, 2016
CEPPnP
MLPnP
OPnP
REPPnP first commit Jun 28, 2016
common_funcs
data
dls_pnp_matlab first commit Jun 28, 2016
gOp first commit Jun 28, 2016
p3p_code_final
plot_funcs
ppnp
rpnp
.DS_Store
IniToolbox.m
ReadMe.txt first commit Jun 28, 2016
main_ordinary_3d.m
main_ordinary_3d_sigma.m
main_ordinary_3d_time.m first commit Jun 28, 2016
main_planar.m
main_planar_sigma.m
main_planar_time.m
readme.md

readme.md

PnP Toolbox

This toolbox is an extension of the toolbox provided by the authors of CEPPnP and OPnP (see below). We extended it to show the use of MLPnP. If you use this file it would be neat to cite our paper:

@INPROCEEDINGS {mlpnp2016,
  title={MLPNP - A REAL-TIME MAXIMUM LIKELIHOOD SOLUTION TO THE PERSPECTIVE-N-POINT PROBLEM},
  author={Urban, Steffen and Leitloff, Jens and Hinz, Stefan},
  booktitle={ISPRS Annals of Photogrammetry, Remote Sensing \& Spatial Information Sciences},
  pages={131-138},
  year={2016},
  volume={3}
}

Scripts to produce the synthetic results:

main_ordinary_3d.m
main_planar.m
main_ordinary_3d_sigma.m
main_planar_sigma.m
main_ordinary_3d_time.m
main_planar_time.m

Acknowledgements

This toolbox is based on the toolbox provided in:

Luis Ferraz, Xavier Binefa, Francesc Moreno-Noguer. Leveraging Feature Uncertainty in the PnP Problem. In Proceedings of BMVC, 2014.

Luis Ferraz, Xavier Binefa, Francesc Moreno-Noguer. Very Fast Solution to the PnP Problem with Algebraic Outlier Rejection. In Proceedings of CVPR, 2014.

Y. Zheng, Y. Kuang, S. Sugimoto, K. Astro ?m, and M. Okutomi. Revisiting the pnp problem: A fast, general and opti- mal solution. In ICCV, pages 4321?4328, 2013.

Y. Zheng, S. Sugimoto, and M. Okutomi. Aspnp: An accurate and scalable solution to the perspective-n-point problem. Trans. on Information and Systems, 96(7):1525?1535, 2013.

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