A Survey on Perspective-n-Point Problem

Determining the position and orientation of the camera is a crucial problem with the rapidly developing technology in visual Simultaneous Localization and Mapping (SLAM), augmented reality and 3D reconstruction. Solving the PnP (perspective-n-point) problem is an effective method to calculate the pose of the camera and is also the most widely used method in many applications. In this paper, the methods for PnP problem, including special PnP problem and general PnP problem are summarized firstly. Then, due to importance of performing PnP methods in practical applications, ability to handle outliers for PnP methods is studied. Finally, the main problems of the current researches on PnP problem are presented.