Camera Pose Revisited

• URL: http://arxiv.org/abs/2601.12567v1
• Date: Sun, 18 Jan 2026 20:10:34 GMT
• Title: Camera Pose Revisited
• Authors: Władysław Skarbek, Michał Salomonowicz, Michał Król,
• Abstract summary: This paper addresses the Perspective-$n$n$n$ problem with special emphasis on the initial estimation of the pose of a calibration object.<n>As a solution, we propose the texttt Cay-ProCay78 algorithm, which combines the classical quadratic formulation of the reconstruction error vectors.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Estimating the position and orientation of a camera with respect to an observed scene is one of the central problems in computer vision, particularly in the context of camera calibration and multi-sensor systems. This paper addresses the planar Perspective--$n$--Point problem, with special emphasis on the initial estimation of the pose of a calibration object. As a solution, we propose the \texttt{PnP-ProCay78} algorithm, which combines the classical quadratic formulation of the reconstruction error with a Cayley parameterization of rotations and least-squares optimization. The key component of the method is a deterministic selection of starting points based on an analysis of the reconstruction error for two canonical vectors, allowing costly solution-space search procedures to be avoided. Experimental validation is performed using data acquired also from high-resolution RGB cameras and very low-resolution thermal cameras in an integrated RGB--IR setup. The results demonstrate that the proposed algorithm achieves practically the same projection accuracy as optimal \texttt{SQPnP} and slightly higher than \texttt{IPPE}, both prominent \texttt{PnP-OpenCV} procedures. However, \texttt{PnP-ProCay78} maintains a significantly simpler algorithmic structure. Moreover, the analysis of optimization trajectories in Cayley space provides an intuitive insight into the convergence process, making the method attractive also from a didactic perspective. Unlike existing PnP solvers, the proposed \texttt{PnP-ProCay78} algorithm combines projection error minimization with an analytically eliminated reconstruction-error surrogate for translation, yielding a hybrid cost formulation that is both geometrically transparent and computationally efficient.

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