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Uncertainty-Aware Camera Pose Estimation from Points and Lines
The new PnP(L) methods outperform the state-of-the-art on real data in isolation, showing an increase in mean translation accuracy by 18% on a representative subset of KITTI, while the new uncertain refinement improves pose accuracy for most of the solvers, e. g. decreasing mean translation error for the EPnP by 16% compared to the standard refinement on the same dataset.
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