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MLPnP

This repository contains MLPnP, a maximum likelihood solution to the Perspective-N-Point problem.

If you use MLPnP 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}
}

Installation instruction

All files are contained within the repository. MLPnP.m is your main entry point. All other function are helpers and calculate Jacobians and so on.