An Event-Based Solution to the Perspective-n-Point Problem.

The goal of the Perspective-n-Point problem (PnP) is to find the relative pose between an object and a camera from a set of n pairings between 3D points and their corresponding 2D projections on the focal plane. Current state of the art solutions, designed to operate on images, rely on computationally expensive minimization techniques. For the first time, this work introduces an event-based PnP algorithm designed to work on the output of a neuromorphic event-based vision sensor.