# Efficient closed-form approaches for pose estimation using Sylvester forms

arXiv: https://arxiv.org/abs/2604.14747 · HTML: https://mlsanity.com/paper/2604.14747/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 24 references that are in the map.
- First posted on arXiv 16 Apr 2026.

## Builds on (most cited first, 1 of 1)

- [An Efficient Algebraic Solution to the Perspective-Three-Point Problem](https://mlsanity.com/paper/1701.08237/) (2017)

## Abstract (arXiv)

Solving non-linear least-squares problem for pose estimation (rotation and translation) is often a time consuming yet fundamental problem in several real-time computer vision applications. With an adequate rotation parametrization, the optimization problem can be reduced to the solution of a~system of polynomial equations and solved in closed form. Recent advances in efficient closed form solvers utilizing resultant matrices have shown a promising research direction to decrease the computation time while preserving the estimation accuracy. In this paper, we propose a new class of resultant-based solvers that exploit Sylvester forms to further reduce the complexity of the resolution. We demonstrate that our proposed methods are numerically as accurate as the state-of-the-art solvers, and outperform them in terms of computational time. We show that this approach can be applied for pose estimation in two different types of problems: estimating a pose from 3D to 3D correspondences, and estimating a pose from 3D points to 2D points correspondences.