A differential, first-order SE(3) estimator recovers platform micro-motion from inter-frame image displacements of known 3D points, with exact cancellation of translational extrinsic calibration errors and bounded sensitivity to rotational ones.
Posefusion: Multi-scale keypoint correspondence for monocular camera-to-robot pose estimation in robotic manipulation,
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Differential 6-DOF Pose Estimation with Provable First-Order Immunity to Camera Calibration Errors
A differential, first-order SE(3) estimator recovers platform micro-motion from inter-frame image displacements of known 3D points, with exact cancellation of translational extrinsic calibration errors and bounded sensitivity to rotational ones.