Efficient closed-form approaches for pose estimation using Sylvester forms
Abstract
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.
Cite
@article{arxiv.2604.14747,
title = {Efficient closed-form approaches for pose estimation using Sylvester forms},
author = {Jana Vráblíková and Ezio Malis and Laurent Busé},
journal= {arXiv preprint arXiv:2604.14747},
year = {2026}
}