Fast and robust certifiable estimation of the relative pose between two calibrated cameras

DOI10.1007/s10851-021-01044-0OpenAlexW3125514181MaRDI QIDQ2051144

Javier Gonzalez-Jimenez, Mercedes Garcia-Salguero

Publication date: 24 November 2021

Published in: Journal of Mathematical Imaging and Vision (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2101.08524

zbMATH Keywords

robust estimationcertifiable algorithmclosed-form optimality certifieron-manifold refinementrelative pose problem

Mathematics Subject Classification ID

Optimality conditions and duality in mathematical programming (90C46) Duality theory (optimization) (49N15) Machine vision and scene understanding (68T45) Optimality conditions (49K99)

Related Items (2)

FastCertRelPose ⋮ Fast certifiable relative pose estimation with gravity prior

Uses Software

• SeDuMi
• SDPT3
• FIVEPOINT
• Manopt
• GitHub
• SURF
• TEASER++
• OpenGV
• SE-Sync
• FivePoint

Cites Work

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• An invitation to 3-D vision. From images to geometric models.
• A note on probably certifiably correct algorithms
• Essential matrix estimation using Gauss-Newton iterations on a manifold
• Manopt, a Matlab toolbox for optimization on manifolds
• The Space of Essential Matrices as a Riemannian Quotient Manifold
• SDPT3 — A Matlab software package for semidefinite programming, Version 1.3
• Using SeDuMi 1.02, A Matlab toolbox for optimization over symmetric cones
• Optimization criteria and geometric algorithms for motion and structure estimation

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