2D-3D pose estimation

A robust technique is described for solving the 3D-to-2D perspective projection pose estimation problem, given corresponding point sets. The technique has a considerable advantage over the least-squares (LS) technique in that with as many as 30% of the corresponding point pair matches completely incorrect the robust technique can determine the correct pose almost as accurately as the LS technique would if the LS technique were given only the correctly matched point pairs. The results of several hundred thousand experiments are reported that support the above conclusion