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A large number of absolute pose algorithms have been presented in the literature. Common performance criteria are computational complexity, geometric optimality, global optimality, structural degeneracies, and the number of solutions. The ability to handle minimal sets of correspondences, resulting solution multiplicity, and generalized cameras are further desirable properties. This paper presents the first PnP solution that unifies all the above desirable properties within a single algorithm. We compare our result to state-of-the-art minimal, non-minimal, central, and non-central PnP algorithms, and demonstrate universal applicability, competitive noise resilience, and superior computational efficiency. Our algorithm is called Unified PnP (UPnP).

UPnP: An Optimal O(n) Solution to the Absolute Pose Problem with Universal Applicability