Pose estimation from minimal dual-receiver configurations

Using multiple receivers (microphones or antennas) in a rigid configuration, such as on a smartphone, it is possible to measure time difference of arrival to the receivers. This in turn can be used to determine the direction to the transmissions, if there are at least three receivers. When using two receivers it can be used to determine the angle to the transmissions relative to the line through the two receivers. In this paper we study three minimal problems for pose using such data: (i) determine position and orientation using five transmissions, (ii) determine position and orientation using four transmissions and known ‘down’ direction and (iii) determine position using three transmissions and known orientation. Numerically stable solvers are implemented. An experimental validation of the solvers are performed on simulated data.