Gravity-aware partially calibrated absolute pose estimation from affine- or rotation-covariant features
Inertial measurement units (IMUs) are now standard in most consumer devices, such as smartphones, drones, and extended reality (XR) headsets. By fusing visual and inertial data, localization systems gain significantly in speed and robustness compared to vision-only or IMU-only approaches. However, traditional pose estimation methods fail to utilize the local geometric information embedded in feature descriptors like SIFT. Recent work has proved the advantages of leveraging this information for relative and absolute pose estimation, but its application to partially calibrated absolute pose estimation remains unexplored. In this paper, we derive novel constraints for joint estimation of abs...
| Authors | Marcus Valtonen Örnhag, Alberto Jaenal, Stefan Adalbjörnsson |
|---|---|
| Primary category | cs.CV |
| Published | 20 August 2026 |
| Last updated at source | 20 August 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.