A novel linear algorithm for P5P problem

Perspective-five-point (P5P) problem is a classical problem in applied mathematics, pattern recognition and computer vision. We briefly survey several existing algorithms for the problem, and present a new linear algorithm (CSNM algorithm) to solve the P5P problem, which is based on a symbolic-numeric method from the geometric theory of partial differential equations. The proposed algorithm is stable robust. In particular, it can deal with the points near critical configurations. Numerical experiments are given to show the performance of our novel algorithm.