An Efficient and Reasonably Simple Solution to the Perspective-Three-Point Problem

In this work, we propose an efficient and simple method for solving the perspective-three-point (P3P) problem. This algorithm leans substantially on linear algebra, in which the rotation matrix and translation vector are parameterized as linear combinations of known vectors with particular coefficients. We also show how to avoid degeneracy when performing this algorithm. Moreover, we present an approach to roughly remove invalid solutions based on the orthogonal property of the rotation matrix. The proposed method is simple to implement and easy to understand, with improved results demonstrating that it is competitive with the leading methods in accuracy, but with reduced computational requirements.