Gravity-Prior Driven Decoupling for Robust Pose Estimation
zhenjun_zhao · x · 2026-09-02
A novel method for absolute pose estimation using a gravity prior. It decouples the 6-DoF problem into 4-DoF (1-DoF rotation, 3-DoF translation) via geometric relations. It uses 1D global voting for rotation and RANSAC for translation, followed by a pose refinement algorithm to enhance accuracy with mismatches.
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