Efficient Minimal Solvers for Visual-Inertial Relative Pose Estimation in Multi-Camera Systems
Estimating the relative poses of multi-camera systems is a fundamental problem in computer vision, with critical applications in autonomous vehicles, mobile devices, and unmanned aerial vehicles (UAVs). However, existing solutions often suffer from high computational complexity or rely on an excessive number of point correspondences, limiting their real-world applicability. To address these limitations, we propose two efficient minimal solvers for estimating the relative poses of multi-camera systems using a novel parameterization. The first solver leverages the vertical direction prior provided by Inertial Measurement Units (IMUs), while the second utilizes the rotation axis direction pr...
| Authors | Tao Li, Zhenbao Yu, Banglei Guan et al. |
|---|---|
| Primary category | cs.CV |
| Published | 8 June 2026 |
| Last updated at source | 8 June 2026 |
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