# REAL-TIME CAMERA POSE ESTIMATION USING CORRESPONDENCES WITH HIGH OUTLIER RATIOS - Solving the Perspective n-Point Problem using Prior Probability

### Tobias Nöll, Alain Pagani, Didier Stricker

#### Abstract

We present PPnP, an algorithm capable of estimating a robust camera pose in real-time, even if being provided with large sets of correspondences containing high ratios of outliers. For these situations, standard pose estimation algorithms using RANSAC are often unable to provide a solution or at least not in the required time frame. PPnP is provided with a probability distribution function which describes all valid possible camera pose estimates. By checking the correspondences for being compatible with the prior probability, it can be decided effectively at a very early stage, which correspondences can be treated as outliers. This allows a considerably more effective selection of hypothetical inliers than in RANSAC. Although PPnP is based on a technique called BlindPnP which is not intended for real-time computing, a number of changes in PPnP allows to estimate a camera pose with the same high quality as BlindPnP while being considerably faster.

#### References

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#### Paper Citation

#### in Harvard Style

Nöll T., Pagani A. and Stricker D. (2010). **REAL-TIME CAMERA POSE ESTIMATION USING CORRESPONDENCES WITH HIGH OUTLIER RATIOS - Solving the Perspective n-Point Problem using Prior Probability** . In *Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)* ISBN 978-989-674-028-3, pages 381-386. DOI: 10.5220/0002850403810386

#### in Bibtex Style

@conference{visapp10,

author={Tobias Nöll and Alain Pagani and Didier Stricker},

title={REAL-TIME CAMERA POSE ESTIMATION USING CORRESPONDENCES WITH HIGH OUTLIER RATIOS - Solving the Perspective n-Point Problem using Prior Probability},

booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)},

year={2010},

pages={381-386},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0002850403810386},

isbn={978-989-674-028-3},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)

TI - REAL-TIME CAMERA POSE ESTIMATION USING CORRESPONDENCES WITH HIGH OUTLIER RATIOS - Solving the Perspective n-Point Problem using Prior Probability

SN - 978-989-674-028-3

AU - Nöll T.

AU - Pagani A.

AU - Stricker D.

PY - 2010

SP - 381

EP - 386

DO - 10.5220/0002850403810386