Recall: SFM1: Find Pose phase //for every time frame t, use all N features, run SFM1 once); So SFM1 runs times here For(t=1;t<=t++) t Inputs: You have f(focal length), M=Xy,Z For each frame t, you have i=l,, N, image feature points and measurements [u,vlit Output: pose 0t After the above is run t=1-t;t=1,Ut=2-t1t=2,…Ut= SI=,Ty t=D poses are found Pose estimation vo.aRecall: SFM1:Find Pose phase //(for every time frame t, use all N features, run SFM1 once); so SFM1 runs  times here For (t=1; t<=; t++) { Inputs: You have f(focal length), Mi=[X,Y,Z]i For each frame t, you have i=1,,,N, image feature points and measurements [u,v] T i,t} Output: pose t } After the above is run t=1={R,T} t=1 , t=2={R,T} t=2 , …., t=={R,T} t=  poses are found Pose estimation V0.a 20