A Pose-only Geometric Constraint for Multi-Camera Pose Adjustment

ArXi:2604.23704v1 Announce Type: new Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particularly pronounced during bundle adjustment, where the non-linear optimization of both system poses and scene points incurs substantial computational overhead. To address this challenge, this paper