A simple algorithm for camera pose estimation

In this paper, we present a simple algorithm for calibrated camera pose estimation. The algorithm is based on the object space error, and capable of iteratively determining the pose by solving a group of linear equations from the correspondences of arbitrary n reference points and their image projections. Experimental results show that our algorithm is more likely to converge to correct pose than currently accepted iterative algorithms, and suitable for both centered and uncentered reference points. Furthermore, our algorithm can maintain high estimation accuracy in a short runtime, which makes it more applicable for real time applications.