In this paper, we present a new framework for reducing the computational complexity of geometric vision problems through targeted reweighting of the cost functions used to minimize reprojection errors. Triangulation - the task of estimating a 3D point from noisy 2D projections across multiple images - is a fundamental problem in multiview geometry and Structure-from-Motion (SfM) pipelines. We apply our framework to the two-view case and demonstrate that optimal triangulation, which requires solving a univariate polynomial of degree six, can be simplified through cost function reweighting reducing the polynomial degree to two. This reweighting yields a closed-form solution while preserving strong geometric accuracy. We derive optimal weighting strategies, establish theoretical bounds on the approximation error, and provide experimental results on real data demonstrating the effectiveness of the proposed approach compared to standard methods. Although this work focuses on two-view triangulation, the framework generalizes to other geometric vision problems.
Rydell et al. (Tue,) studied this question.