BESTAnP: Bi-Step Efficient and Statistically Optimal Estimator for Acoustic-n-Point Problem

Wenliang Sheng, Hongxu Zhao, Lingpeng Chen +6

We consider the acoustic-n-point (AnP) problem, which estimates the pose of a 2D forward-looking sonar (FLS) according to n 3D-2D point correspondences. We explore the nature of th…