Solving the PnP Problem with Anisotropic Orthogonal Procrustes Analysis.

In this paper we formulate the Perspective-n-Point (a.k.a. exterior orientation) problem in terms of an instance of the anisotropic orthogonal Procrustes problem, and de- rive its solution. Experiments with synthetic and real data demonstrate that our method reaches the best trade-off be- tween speed and accuracy. The MATLAB code reported in the paper testifies that it is also exceedingly simple to im- plement.