Function solve_pnp_ransac 

pub fn solve_pnp_ransac(
    correspondences: &[ObjectImageCorrespondence],
    camera: CameraMatrix3,
    options: RobustEstimationOptions,
) -> Result<GeometricEstimate<AbsolutePose>, VisionError>

Robust PnP using deterministic six-point RANSAC and inlier refinement.