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We present two algorithms that, fusing the information provided by the camera and the IMUs, solve the P<jats:italic>n<\/jats:italic>P problem with good accuracy. These algorithms only use the measurements given by IMUs\u2019 inclinometers, as the magnetometers usually give inaccurate estimates of the Earth magnetic vector. The effectiveness of the proposed methods is assessed by numerical simulations and experimental tests. The results of the tests are compared with the most recent methods proposed in the literature.<\/jats:p>","DOI":"10.1007\/s00138-021-01219-0","type":"journal-article","created":{"date-parts":[[2021,6,5]],"date-time":"2021-06-05T15:02:54Z","timestamp":1622905374000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Camera and inertial sensor fusion for the PnP problem: algorithms and experimental results"],"prefix":"10.1007","volume":"32","author":[{"given":"Luigi","family":"D\u2019Alfonso","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Emanuele","family":"Garone","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pietro","family":"Muraca","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0313-623X","authenticated-orcid":false,"given":"Paolo","family":"Pugliese","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2021,6,5]]},"reference":[{"key":"1219_CR1","doi-asserted-by":"publisher","first-page":"381","DOI":"10.1145\/358669.358692","volume":"24","author":"MA Fischler","year":"1981","unstructured":"Fischler, M.A., Bolles, R.C.: Random sample consensus: a para-digm for model fitting with applications to image analysis and automated cartography. 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