“…Our algorithm is implemented 6 in C++ using the same linear algebra library, TooN [22], as [15]. We employ simulation data to test our code and compare it to the solutions of [15] and [18]. For each Algorithm 1: Solving for the camera's pose Input: G pi, i = 1, 2, 3 the features' positions; C bi, i = 1, 2, 3 bearing measurements Output: G pC, the position of the camera; C G C, the orientation of the camera 1 Compute k1, k3 using (6) 2 Compute ui and vi using (11), i = 1, 2 3 Compute δ and k 3 using (22) and (23) 4 Compute the fij's using (29)-(36) 5 Compute αi, i = 0, 1, 2, 3, 4 using (39)-(50) 6 Solve (38) to get n (n = 2 or 4) real solutions for cos θ 1 , denoted as cos θ (i)…”