Fig. 6.

Experiments with synthetic data (ordinary 3D case, 50% of outliers) to demonstrate the iteration process of R1PPnP when the control point o is an outlier. Randomly colored lines are results with different control points. (a) The changes of estimated camera pose between frames k and k – 1 are complex during the iteration process, based on which it is difficult to decide when to stop the process. (b) It is more robust and efficient to stop the process when no more inliers can be detected.