Do not Omit Local Minimizer: a Complete Solution for Pose Estimation from 3D Correspondences

3 Apr 2019Lipu ZhouShengze WangJiamin YeMichael Kaess

Estimating pose from given 3D correspondences, including point-to-point, point-to-line and point-to-plane correspondences, is a fundamental task in computer vision with many applications. We present a complete solution for this task, including a solution for the minimal problem and the least-squares problem of this task... (read more)

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