Generalized Pose Estimation from Line Correspondences with Known Vertical Direction
Bibliographic record
Abstract
We propose a novel method to compute the absolute pose of a generalized camera based on straight lines, which are common in urban environment. The only assumption about the imaging model is that 3D straight lines are projected via projection planes determined by the line and camera projection directions, i.e. correspondences are given as a 3D world line and its projection plane. Since modern cameras are frequently equipped with various location and orientation sensors, we assume that the vertical direction (e.g. a gravity vector) is available. Therefore we formulate the problem in terms of 4 unknowns using 3D line - projection plane correspondences which yields a closed form solution. The solution can be used as a minimal solver as well as a least squares solver without reformulation. The proposed algorithm have been evaluated on various synthetic datasets as well as on real data. Experimental results confirm state of the art performance both in terms of quality and computing time.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.002 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.002 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.002 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.003 | 0.002 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".