What is the minimum number of point correspondences required for camera pose estimation given the perspective projections of points with known world coordinates?
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The problem is called perspective-n-point. And has the answer in the Wikipedia article.
6 unknowns. 3 for rotation and 3 for translation.
Each perspective measurement provides 2 points of information. (x,y) in pixels.
$\frac{6}{2}$ is 3.
