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most citedOptimal camera-robot pose estimation in linear time from points and lines

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cs.RO2025

Bias-Eliminated PnP for Stereo Visual Odometry: Provably Consistent and Large-Scale Localization

Guangyang Zeng, Yuan Shen, Ziyang Hong +4

In this paper, we first present a bias-eliminated weighted (Bias-Eli-W) perspective-n-point (PnP) estimator for stereo visual odometry (VO) with provable consistency. Specifically,…