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Many real-world applications in augmented reality (AR), 3D mapping, and robotics require both fast and accurate estimation of camera poses and scales from multiple images captured by multiple cameras or a single moving camera. Achieving high speed and maintaining high accuracy in a pose-and-scale estimator are often conflicting goals. To simultaneously achieve both, we exploit a priori knowledge about the solution space. We present gDLS*, a generalizedcamera-model pose-and-scale estimator thatdoi:10.1109/cvpr42600.2020.00228 dblp:conf/cvpr/FragosoD020 fatcat:qawzmx63encn5hvsvqnrsy2r4u