A Sufficient Condition of Optimality for the Relative Pose Problem between Cameras

DOI10.1137/21M1397970zbMath1474.90502OpenAlexW3208132348MaRDI QIDQ5860378

Mercedes Garcia-Salguero, Javier Gonzalez-Jimenez

Publication date: 19 November 2021

Published in: SIAM Journal on Imaging Sciences (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1137/21m1397970

zbMATH Keywords

spectral analysissufficient optimality conditionrelative pose problemoptimality certification

Mathematics Subject Classification ID

Sensitivity, stability, well-posedness (49K40) Optimality conditions and duality in mathematical programming (90C46) Duality theory (optimization) (49N15) Optimality conditions (49K99)

Uses Software

• SeDuMi
• SDPT3
• FIVEPOINT
• ORB-SLAM
• SURF
• ORB-SLAM2
• FivePoint

Cites Work

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

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