# A dyadic solution of relative pose problems

## TL;DR

This paper introduces a p-adic encoding approach for solving relative pose problems in computer vision, leveraging hierarchical interval subdivision and Hensel's lifting to enhance robustness in linear and nonlinear equations.

## Contribution

It presents a novel p-adic encoding method combined with Hensel's lifting for solving relative pose problems, improving robustness over traditional techniques.

## Key findings

- Effective in solving linear and nonlinear pose equations
- Applicable to 5, 7, and 8 point correspondences
- Demonstrates inherent robustness of the method

## Abstract

A hierarchical interval subdivision is shown to lead to a $p$-adic encoding of image data. This allows in the case of the relative pose problem in computer vision and photogrammetry to derive equations having 2-adic numbers as coefficients, and to use Hensel's lifting method to their solution. This method is applied to the linear and non-linear equations coming from eight, seven or five point correspondences. An inherent property of the method is its robustness.