This paper presents a novel method to conduct camera pose estimation though combining Kinect and Perspective-n-points algorithms. Most existing camera pose estimation methods suffer from the errors caused by inevitable outliers between 2D-3D correspondences. To this end, we propose to use a random down sampling process to deal with outliers in this paper. The proposed method is divided into two main steps, which are 2D-3D correspondences generation and pose estimation. The method has been tested in a real project, and the experiment has shown encouraging results compared to the ground truth.
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