{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/pnp-for-two-dimensional-pose-estimation","title":"A PnP Algorithm for Two-Dimensional Pose Estimation","arxiv_id":"2312.08488","date":"2023-12-13","proceeding":null,"authors":["Joshua Wang"],"abstract":"We propose a PnP algorithm for a camera constrained to two-dimensional motion (applicable, for instance, to many wheeled robotics platforms). Leveraging this assumption allows accuracy and performance improvements over 3D PnP algorithms due to the reduction in search space dimensionality. It also reduces the incidence of ambiguous pose estimates (as, in most cases, the spurious solutions fall outside the plane of movement). Our algorithm finds an approximate solution by solving a polynomial system and refines its prediction iteratively to minimize the reprojection error. The algorithm compares favorably to existing 3D PnP algorithms in terms of accuracy, performance, and robustness to noise.","url_abs":"https://arxiv.org/abs/2312.08488v3","url_pdf":"https://arxiv.org/pdf/2312.08488v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"pnp-for-two-dimensional-pose-estimation","repo_url":"https://github.com/25wangj/2dpnptoolbox","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"pose-estimation","task_name":"Pose Estimation"}],"methods":[{"method_slug":"pnp","method_name":"PnP"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}