New Gravity-Aware Pose Estimation Method Needs Only 1-2 Feature Correspondences
zhenjun_zhao · x · 2026-08-21
This paper presents a novel approach for absolute pose and focal length estimation under partial calibration by leveraging IMU gravity vectors and local geometric information from features. The authors derive two efficient solvers: UP1PfAC, which operates with a single affine correspondence, and UP2PfORI, requiring two orientation-covariant features. Unlike traditional methods that need four point correspondences, these solvers require fewer samples and lower computational costs, significantly simplifying robust estimation within RANSAC-like frameworks.
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