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This paper presents a generic 6DOF camera pose estimation method, which canbe used for both the pinhole camera and the fish-eye camera. Different fromexisting methods, relative positions of 3D points rather than absolutecoordinates in the world coordinate system are employed in our method, and ithas a unique solution. The application scope of POSIT (Pose from Orthographyand Scaling with Iteration) algorithm is generalized to fish-eye cameras bycombining with the radially symmetric projection model. The image pointrelationship between the pinhole camera and the fish-eye camera is derivedbased on their projection model. The general pose expression which fits fordifferent cameras can be acquired by four noncoplanar object points and theircorresponding image points. Accurate estimation results are calculatediteratively. Experimental results on synthetic and real data show that the poseestimation results of our method are more stable and accurate thanstate-of-the-art methods. The source code is available athttps://github.com/k032131/EPOSIT.

EPOSIT: An Absolute Pose Estimation Method for Pinhole and Fish-Eye Cameras