PnP-Net: A hybrid Perspective-n-Point Network

Understand

We consider the robust Perspective-n-Point (PnP) problem using a hybrid approach that combines deep learning with model based algorithms.

• PnP is the problem of estimating the pose of a calibrated camera given a set of 3D points in the world and their corresponding 2D projections in the image.
• In its more challenging robust version, some of the correspondences may be mismatched and must be efficiently discarded.
• Classical solutions address PnP via iterative robust non-linear least squares method that exploit the problem's geometry but are either inaccurate or computationally intensive.