diff --git a/ports/poselib/portfile.cmake b/ports/poselib/portfile.cmake
new file mode 100644
index 0000000000..a91e46d45d
--- /dev/null
+++ b/ports/poselib/portfile.cmake
@@ -0,0 +1,25 @@
+if(VCPKG_TARGET_IS_WINDOWS)
+    vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+endif()
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO PoseLib/PoseLib
+    REF "v${VERSION}"
+    SHA512 adc43c4f0fd8544d2c7ef05538696a8ae614837f5e90c31b8b9c8f4b5a11eb773229c22444e01482de697a0f5b3137d4a63a24ba9fcc72b366a347252d3c16b1
+    HEAD_REF master
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH ${SOURCE_PATH}
+    OPTIONS
+        -DMARCH_NATIVE=OFF
+        -DWITH_BENCHMARK=OFF
+        -DPYTHON_PACKAGE=OFF
+)
+vcpkg_cmake_install()
+vcpkg_copy_pdbs()
+vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/PoseLib)
+
+vcpkg_install_copyright(FILE_LIST "${SOURCE_PATH}/LICENSE")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
diff --git a/ports/poselib/vcpkg.json b/ports/poselib/vcpkg.json
new file mode 100644
index 0000000000..018d5dcf77
--- /dev/null
+++ b/ports/poselib/vcpkg.json
@@ -0,0 +1,18 @@
+{
+  "name": "poselib",
+  "version": "2.0.4",
+  "description": "Minimal solvers for calibrated camera pose estimation",
+  "homepage": "https://github.com/PoseLib/PoseLib",
+  "license": "BSD-3-Clause",
+  "dependencies": [
+    "eigen3",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}
diff --git a/versions/baseline.json b/versions/baseline.json
index b1a87706af..60d351ee4c 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -7124,6 +7124,10 @@
       "baseline": "239",
       "port-version": 0
     },
+    "poselib": {
+      "baseline": "2.0.4",
+      "port-version": 0
+    },
     "ppconsul": {
       "baseline": "0.5",
       "port-version": 5
diff --git a/versions/p-/poselib.json b/versions/p-/poselib.json
new file mode 100644
index 0000000000..20360d38c4
--- /dev/null
+++ b/versions/p-/poselib.json
@@ -0,0 +1,9 @@
+{
+  "versions": [
+    {
+      "git-tree": "adf31292beb503a1ff13f6ecffd2697c0f56bbe2",
+      "version": "2.0.4",
+      "port-version": 0
+    }
+  ]
+}