A tighter relaxation for the relative pose problem between cameras

DOI10.1007/s10851-022-01085-zOpenAlexW4223616922MaRDI QIDQ2163347

Mercedes Garcia-Salguero, Javier Gonzalez-Jimenez, Jesus Briales

Publication date: 10 August 2022

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

Full work available at URL: https://doi.org/10.1007/s10851-022-01085-z

zbMATH Keywords

convex relaxationredundant constraintsessential matrixrelative pose problemoptimality guarantee

Mathematics Subject Classification ID

Optimality conditions and duality in mathematical programming (90C46) Duality theory (optimization) (49N15) Optimality conditions (49K99) Computer science (68-XX) Information and communication theory, circuits (94-XX)

Related Items (1)

Fast certifiable relative pose estimation with gravity prior

Uses Software

• GloptiPoly
• ORB-SLAM
• Ceres Solver
• SURF
• ORB-SLAM2
• TSSOS
• TEASER++

Cites Work

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• GloptiPoly 3: moments, optimization and semidefinite programming
• Chordal-TSSOS: A Moment-SOS Hierarchy That Exploits Term Sparsity with Chordal Extension
• Optimization criteria and geometric algorithms for motion and structure estimation

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