gDLS*: Generalized Pose-and-Scale Estimation Given Scale and Gravity Priors

CVPR 2020 Victor FragosoJoseph DeGolGang Hua

Many real-world applications in augmented reality (AR), 3D mapping, and robotics require both fast and accurate estimation of camera poses and scales from multiple images captured by multiple cameras or a single moving camera. Achieving high speed and maintaining high accuracy in a pose-and-scale estimator are often conflicting goals... (read more)

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