Camera Pose Revisited

Estimating the position and orientation of a camera with respect to an observed scene is one of the central problems in computer vision, particularly in the context of camera calibration and multi-sensor systems. This paper addresses the planar Perspective–$n$–Point problem, with special emphasis on the initial estimation of the pose of a calibration object. As a solution, we propose the $\mathtt{\text{PnP-ProCay78}}$ algorithm, which combines the classical quadratic formulation of the reconstruction error with a Cayley parameterization of rotations and least-squares optimization. The key component of the method is a deterministic selection of starting points based on an analysis of the reconstruction error for two canonical vectors, allowing costly solution-space search procedures to be avoided. Experimental validation is performed using data acquired also from high-resolution RGB cameras and very low-resolution thermal cameras in an integrated RGB–IR setup. The results demonstrate that the proposed algorithm achieves practically the same projection accuracy as optimal $\mathtt{\text{SQPnP}}$ and slightly higher than $\mathtt{\text{IPPE}}$, both prominent $\mathtt{\text{PnP-OpenCV}}$ procedures. However, $\mathtt{\text{PnP-ProCay78}}$ maintains a significantly simpler algorithmic structure. Moreover, the analysis of optimization trajectories in Cayley space provides an intuitive insight into the convergence process, making the method attractive also from a didactic perspective. Unlike existing PnP solvers, the proposed $\mathtt{\text{PnP-ProCay78}}$ algorithm combines projection error minimization with an analytically eliminated reconstruction-error surrogate for translation, yielding a hybrid cost formulation that is both geometrically transparent and computationally efficient.