Research map / 3D vision / Depth and stereo
Minimal Solutions for Relative Pose With a Single Affine Correspondence
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Use one affine correspondence with histogram voting for planar motion instead of 2pt-Choi | KITTI relative pose estimation under planar motion · KITTI sequences | rotation error | Helped |
| Use one affine correspondence to estimate pose with known vertical direction | Relative pose estimation with known vertical direction · KITTI sequences | rotation error | Helped |
| Use one affine correspondence to estimate pose with known vertical direction | Relative pose estimation with known vertical direction · KITTI sequences | translation error | Mixed |
| Replace ORB-SLAM2 pose initialization and constant-velocity motion model with the 1AC method using RANSAC | Monocular visual odometry · KITTI sequences | relative pose rotation and translation error | Helped |
| Use the least-squares planar solver rather than the closed-form solver | 1AC planar motion estimation · KITTI planar motion | rotation error: 0.133 -> 0.155 | Hurt |
Closest papers by meaning
- From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation (CVPR 2024 · similarity 0.90)
- Practical Solutions to the Relative Pose of Three Calibrated Cameras (CVPR 2025 · similarity 0.87)
- Relative Pose Estimation through Affine Corrections of Monocular Depth Priors (CVPR 2025 · similarity 0.87)
- FAR: Flexible Accurate and Robust 6DoF Relative Camera Pose Estimation (CVPR 2024 · similarity 0.87)
- Efficient Solution of Point-Line Absolute Pose (CVPR 2024 · similarity 0.86)
- Absolute Pose from One or Two Scaled and Oriented Features (CVPR 2024 · similarity 0.85)
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