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Efficient and Robust Absolute Pose Estimation via Gravity-Prior-Driven Transformation Decoupling and Pose Refinement

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

Estimation of the absolute pose of an object is an essential task for various robotic applications. Recently, incorporating gravity direction as prior information has emerged as a popular approach to simplify absolute pose estimation. However, developing a robust and efficient algorithm to solve this challenging problem remains a difficult question due to large amounts of mismatches. In addition, obtaining an accurate pose solution from selected inlier correspondences with gravity prior is still a research gap. In this paper, we propose a novel transformation strategy that exploits geometric r

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