Absolute Pose Estimation

Benchmarks

Dataset Name	SOTA Method	Metric
Simulated Events synthetic (test)	AbsPol	Median Rotation Error (deg)1.5	24	1mo ago
TUM RGB-D v1	GO-SLAM	Error (desk)0.016	14	5mo ago
Oxford Multi-view Model House 1.0	P2P1L solver	Timing (ms)7.72	12	5mo ago
Oxford Multi-view (Wadham)	P1P2L solver	Timing (ms)22.96	6	5mo ago
Oxford Multi-view (Library)	P1P2L solver	Timing (ms)10.04	6	5mo ago
Oxford Multi-view Merton III	P1P2L solver	Timing (ms)10.91	6	5mo ago
Oxford Multi-view (Merton II)	P1P2L solver	Timing (ms)26.7	6	5mo ago
Oxford Multi-view Corridor	P2P1L solver	Timing (ms)11.32	6	5mo ago
Abs. pose quivers 5K random instances	FFT-based minimal solver	Mean Log10 Residual Error-9.68	3	2mo ago
Abs. pose refractive P5P 5K random instances	FFT-based minimal solver	Mean Log10 Residual-11.24	3	2mo ago
Abs. Pose P4Pfr elim. f 5K random instances	GAPS	Mean Log10 Residual Error-11.67	3	2mo ago
Abs. pose quivers 20 sols	SparseR	Time (ms)0.947	3	2mo ago
Abs. pose refractive P5P 16 sols	SparseR	Time (ms)1.802	3	2mo ago
Abs. Pose P4Pfr (elim. f) (12 sols)	SparseR	Time (ms)0.662	3	2mo ago
optimal PnP with quaternion		Elim. Temp. (ms)1.864	2	5mo ago
P3P abs. pose		Elimination Time (ms)0.063	1	5mo ago
PnP unknown principal point		Elim. Temp. (ms)1.466	1	5mo ago
P4P unknown focal length & radial distortion		Elimination Time (ms)9.03	1	5mo ago
6 pt rolling shutter abs. pose w. 1-lin.		CPU Time (ms)158.48	1	5mo ago

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