Add solvePnPRefineLM to refine a pose according to a Levenberg-Marquardt iterative minimization process. Add solvePnPRefineVVS to refine a pose using a virtual visual servoing scheme.

doc/opencv.bib

@@ -195,6 +195,21 @@
   volume = {9},
   publisher = {Walter de Gruyter}
 }
+@article{Chaumette06,
+  author = {Chaumette, Fran{\c c}ois and Hutchinson, S.},
+  title = {{Visual servo control, Part I: Basic approaches}},
+  url = {https://hal.inria.fr/inria-00350283},
+  journal = {{IEEE Robotics and Automation Magazine}},
+  publisher = {{Institute of Electrical and Electronics Engineers}},
+  volume = {13},
+  number = {4},
+  pages = {82-90},
+  year = {2006},
+  pdf = {https://hal.inria.fr/inria-00350283/file/2006_ieee_ram_chaumette.pdf},
+  hal_id = {inria-00350283},
+  hal_version = {v1},
+}
+
 @article{Daniilidis98,
   author = {Konstantinos Daniilidis},
   title = {Hand-Eye Calibration Using Dual Quaternions},
@@ -242,6 +257,12 @@
   publisher = {IEEE},
   url = {http://alumni.media.mit.edu/~jdavis/Publications/publications_402.pdf}
 }
+@misc{Eade13,
+  author = {Eade, Ethan},
+  title = {Gauss-Newton / Levenberg-Marquardt Optimization},
+  year = {2013},
+  url = {http://ethaneade.com/optimization.pdf}
+}
 @inproceedings{EM11,
   author = {Gastal, Eduardo SL and Oliveira, Manuel M},
   title = {Domain transform for edge-aware image and video processing},
@@ -596,10 +617,14 @@
   title = {ROF and TV-L1 denoising with Primal-Dual algorithm},
   url = {http://znah.net/rof-and-tv-l1-denoising-with-primal-dual-algorithm.html}
 }
-@misc{VandLec,
-  author = {Vandenberghe, Lieven},
-  title = {QR Factorization},
-  url = {http://www.seas.ucla.edu/~vandenbe/133A/lectures/qr.pdf}
+@misc{Madsen04,
+  author = {K. Madsen and H. B. Nielsen and O. Tingleff},
+  title = {Methods for Non-Linear Least Squares Problems (2nd ed.)},
+  year = {2004},
+  pages = {60},
+  publisher = {Informatics and Mathematical Modelling, Technical University of Denmark, {DTU}},
+  address = {Richard Petersens Plads, Building 321, {DK-}2800 Kgs. Lyngby},
+  url = {http://www2.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf}
 }
 @article{MHT2011,
   author = {Getreuer, Pascal},
@@ -645,6 +670,23 @@
   title = {Deeper understanding of the homography decomposition for vision-based control},
   year = {2007}
 }
+@article{Marchand16,
+  author = {Marchand, Eric and Uchiyama, Hideaki and Spindler, Fabien},
+  title = {{Pose Estimation for Augmented Reality: A Hands-On Survey}},
+  url = {https://hal.inria.fr/hal-01246370},
+  journal = {{IEEE Transactions on Visualization and Computer Graphics}},
+  publisher = {{Institute of Electrical and Electronics Engineers}},
+  volume = {22},
+  number = {12},
+  pages = {2633 - 2651},
+  year = {2016},
+  month = Dec,
+  doi = {10.1109/TVCG.2015.2513408},
+  keywords = {homography ; SLAM ; motion estimation ; Index Terms-Survey ; augmented reality ; vision-based camera localization ; pose estimation ; PnP ; keypoint matching ; code examples},
+  pdf = {https://hal.inria.fr/hal-01246370/file/survey-ieee-v2.pdf},
+  hal_id = {hal-01246370},
+  hal_version = {v1},
+}
 @article{Matas00,
   author = {Matas, Jiri and Galambos, Charles and Kittler, Josef},
   title = {Robust detection of lines using the progressive probabilistic hough transform},
@@ -915,6 +957,11 @@
   volume = {2},
   publisher = {IEEE}
 }
+@misc{VandLec,
+  author = {Vandenberghe, Lieven},
+  title = {QR Factorization},
+  url = {http://www.seas.ucla.edu/~vandenbe/133A/lectures/qr.pdf}
+}
 @inproceedings{V03,
   author = {Kwatra, Vivek and Sch{\"o}dl, Arno and Essa, Irfan and Turk, Greg and Bobick, Aaron},
   title = {Graphcut textures: image and video synthesis using graph cuts},