Characterization of the multiplicity of solutions for camera pose given two vertically-aligned landmarks and accelerometer

We consider the problem of recovering the position and orientation of a camera equipped with an accelerometer from sensor images of two labeled landmarks whose positions in a coordinate system aligned in a known way with gravity are known. This a variant on the much studied PnP problem of recovering camera position and orientation from n points without any gravitational data. It is proved that in three types of singular cases there are infinitely many solutions, in another type of case there is one, and in a final type of case there are two. A precise characterization of each type of case. In particular, there is always a unique solution in the practically interesting case where the two landmarks are at the same altitude and the camera is at a different altitude. This case is studied by numerical simulation and an implementation on a consumer cellphone. It is also proved that if the two landmarks are unlabeled, then apart from the same singular cases, there are still always one or two solutions.