# PoseGravity: Pose Estimation from Points and Lines with Axis Prior

arXiv: https://arxiv.org/abs/2405.12646 · HTML: https://mlsanity.com/paper/2405.12646/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 2 of its 24 references that are in the map.
- First posted on arXiv 21 May 2024.

## Builds on (most cited first, 2 of 2)

- [An Efficient Algebraic Solution to the Perspective-Three-Point Problem](https://mlsanity.com/paper/1701.08237/) (2017)
- [Camera Pose Estimation from Lines using Pl"ucker Coordinates](https://mlsanity.com/paper/1608.02824/) (2016)

## Built on by (most cited first, 1 of 1)

- [Efficient and Robust Absolute Pose Estimation via Gravity-Prior-Driven Transformation Decoupling and Pose Refinement](https://mlsanity.com/paper/2609.00713/) (2026)

## Abstract (arXiv)

This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can be solved efficiently by finding the intersection points of a hyperbola and the unit circle. The solution can flexibly accommodate combinations of point and line features in minimal and overconstrained configurations. In addition, the two special cases of planar and minimal configurations are identified to yield simpler closed-form solutions. Extensive experiments validate the approach.