# Partially calibrated semi-generalized pose from hybrid point correspondences

arXiv: https://arxiv.org/abs/2209.15072 · HTML: https://mlsanity.com/paper/2209.15072/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 10 of its 50 references that are in the map.
- First posted on arXiv 29 Sep 2022.

## Builds on (most cited first, 10 of 10)

- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [From Coarse to Fine: Robust Hierarchical Localization at Large Scale](https://mlsanity.com/paper/1812.03506/) (2018)
- [Expert Sample Consensus Applied to Camera Re-Localization](https://mlsanity.com/paper/1908.02484/) (2019)
- [Why Having 10,000 Parameters in Your Camera Model is Better Than Twelve](https://mlsanity.com/paper/1912.02908/) (2019)
- [Beyond Controlled Environments: 3D Camera Re-Localization in Changing Indoor Scenes](https://mlsanity.com/paper/2008.02004/) (2020)
- [Beyond Gr"obner Bases: Basis Selection for Minimal Solvers](https://mlsanity.com/paper/1803.04360/) (2018)
- [A clever elimination strategy for efficient minimal solvers](https://mlsanity.com/paper/1703.05289/) (2017)
- [Calibrated and Partially Calibrated Semi-Generalized Homographies](https://mlsanity.com/paper/2103.06535/) (2021)
- [Computing stable resultant-based minimal solvers by hiding a variable](https://mlsanity.com/paper/2007.10100/) (2020)

## Built on by (most cited first, 2 of 2)

- [Automatic Solver Generator for Systems of Laurent Polynomial Equations](https://mlsanity.com/paper/2307.00320/) (2023)
- [Correspondences of the Third Kind: Camera Pose Estimation from Object Reflection](https://mlsanity.com/paper/2312.04527/) (2023)

## Abstract (arXiv)

In this paper we study the problem of estimating the semi-generalized pose of a partially calibrated camera, i.e., the pose of a perspective camera with unknown focal length w.r.t. a generalized camera, from a hybrid set of 2D-2D and 2D-3D point correspondences. We study all possible camera configurations within the generalized camera system. To derive practical solvers to previously unsolved challenging configurations, we test different parameterizations as well as different solving strategies based on the state-of-the-art methods for generating efficient polynomial solvers. We evaluate the three most promising solvers, i.e., the H51f solver with five 2D-2D correspondences and one 2D-3D correspondence viewed by the same camera inside generalized camera, the H32f solver with three 2D-2D and two 2D-3D correspondences, and the H13f solver with one 2D-2D and three 2D-3D correspondences, on synthetic and real data. We show that in the presence of noise in the 3D points these solvers provide better estimates than the corresponding absolute pose solvers.