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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Marcus Valtonen Örnhag

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Open access Aug 2026

Gravity-aware partially calibrated absolute pose estimation from affine- or rotation-covariant features

This paper derives novel constraints for joint estimation of absolute pose and focal length, making use of a gravity vector obtained from IMU data and the feature-induced local geometry, which is used to construct two efficient solvers: UP1PfAC, that operates given a single affine correspondence and UP2PfORI, which req...

Marcus Valtonen Örnhag, Alberto Jaenal, S. Adalbjörnsson · 0 citations

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