EPnP: Efficient Perspective-n-Point Camera Pose Estimation

Matlab Code and C++ code for the EPnP algorithm described in:

V. Lepetit; F. Moreno-Noguer; P. Fua : EPnP: An Accurate O(n) Solution to the PnP Problem; International Journal Of Computer Vision. 2009. DOI : 10.1007/s11263-008-0152-6.
F. Moreno-Noguer; V. Lepetit; P. Fua : Accurate non-iterative O(n) solution to the PnP problem. 2007. 11th IEEE International Conference on Computer Vision, Rio de Janeiro, BRAZIL, Oct 14-21, 2007. p. 2252-2259.