Virtual-point-based Solutions to Handle Generalized Absolute Pose Problem
Bin Li, Banglei Guan, Shunkun Liang, Yang Shang
tl;dr: generalized multi-camera projection->virtual point->single-camera form->Cayley/quaternion/rotation-matrix->3 PnP solvers
arxiv.org/abs/2606.09294
Zhenjun Zhao
