Trifocal Tensor and Relative Pose Estimation with Known Vertical Direction

This article likely presents a novel approach to estimating the relative pose (position and orientation) of a camera or object using a trifocal tensor, a mathematical tool in computer vision. The added constraint of a known vertical direction simplifies the problem, potentially leading to more accurate or efficient pose estimation. The source, ArXiv, suggests this is a pre-print or research paper.