Papers › Generalized Pose-and-Scale Estimation using 4-Point Congruence Constraints
Generalized Pose-and-Scale Estimation using 4-Point Congruence Constraints
Victor Fragoso, Sudipta Sinha
We present gP4Pc, a new method for computing the absolute pose of a generalized camera with unknown internal scale from four corresponding 3D point-and-ray pairs. Unlike most pose-and-scale methods, gP4Pc is based on constraints arising from the congruence of shapes defined by two sets of four points related by an unknown similarity transformation. By choosing a novel parametrization for the problem, we derive a system of four quadratic equations in four scalar variables. The variables represent the distances of 3D points along the rays from the camera centers. After solving this system via Groebner basis-based automatic polynomial solvers, we compute the similarity transformation using an efficient 3D point-point alignment method. We also propose a specialized variant of our solver for the case of coplanar points, which is computationally very efficient and about 3x faster than the fastest existing solver. Our experiments on real and synthetic datasets, demonstrate that gP4Pc is among the fastest methods in terms of total running time when used within a RANSAC framework, while achieving competitive numerical stability, accuracy, and robustness to noise.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections