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

DOI10.1007/S10851-021-01044-0MaRDI QIDQ2051144zbMATH OpenOpenAlexFDO

Authors Mercedes Garcia-Salguero, Javier Gonzalez-Jimenez

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

certifiable algorithmclosed-form optimality certifieron-manifold refinementrelative pose problemrobust estimation

Mathematics Subject Classification ID

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

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Cites work

• A note on probably certifiably correct algorithms
• An invitation to 3-D vision. From images to geometric models.
• Essential matrix estimation using Gauss-Newton iterations on a manifold
• scientific article; zbMATH DE number 1229396 (Why is no real title available?)
• scientific article; zbMATH DE number 2107836 (Why is no real title available?)
• scientific article; zbMATH DE number 5223994 (Why is no real title available?)
• Manopt, a Matlab toolbox for optimization on manifolds
• Optimization criteria and geometric algorithms for motion and structure estimation
• SDPT3 — A Matlab software package for semidefinite programming, Version 1.3
• The Space of Essential Matrices as a Riemannian Quotient Manifold
• Using SeDuMi 1.02, A Matlab toolbox for optimization over symmetric cones

Cited in

(4)

• FastCertRelPose
• A tighter relaxation for the relative pose problem between cameras
• Fast certifiable relative pose estimation with gravity prior
• Fast certifiable algorithm for the absolute pose estimation of a camera

Describes a project that uses

Uses Software

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

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