How to improve PnP pose estimation?

[FestiveHydra235]

I’m having the sam exact issue! I’ve opened a post about it here:

Real time headpose: using solvePnP with a video stream

I’m using this stereo camera and I have successfully calibrated it. I have implemented a Visual Odemetery pipeline that does the following: Extract features using ORB and match features using BFMatcher Perform triangulation on matches and use the resulting 3D points as the reference origin Track the 2D image points that correspond to the original 3D points via Optical Flow Run solvePnPRansac to retrieve tvec and rvec Repeat from step 3 I’m trying to implement a headpose algorithm for an AR/VR…

Were you able to find a solution?