Fast and robust certifiable relative pose estimation

Overview

Fast and Robust Relative Pose Estimation for Calibrated Cameras

This repository contains the code for the relative pose estimation between two central and calibrated cameras for the paper [1].

Authors: Mercedes Garcia-Salguero, Javier Gonzalez-Jimenez

License: GPLv3

If you use this code for your research, please cite:

@misc{garciasalguero2021fast,
      title={Fast and Robust Certifiable Estimation of the Relative Pose Between Two Calibrated Cameras}, 
      author={Mercedes Garcia-Salguero and Javier Gonzalez-Jimenez},
      year={2021},
      eprint={2101.08524},
      archivePrefix={arXiv},
      primaryClass={cs.CV}
}

Some parts of this repository are based on previous works:

  1. Matlab & python bindings from TEASER++

     ```
             @article{yang2020teaser,
               title={Teaser: Fast and certifiable point cloud registration},
               author={Yang, Heng and Shi, Jingnan and Carlone, Luca},
               journal={arXiv preprint arXiv:2001.07715},
               year={2020}
             }
     ```
    
  2. Scene generation from opengv

Dependences

  • Eigen
       sudo apt install libeigen3-dev
  • Optimization (own fork)
       git clone https://github.com/mergarsal/Optimization.git
  • GNCSO
        git clone --recursive https://github.com/mergarsal/GNCSO.git 
  • OpenGV
        git clone https://github.com/laurentkneip/opengv.git

Build

git clone --recursive https://github.com/mergarsal/FastCertRelPose.git
cd GNCSO

mkdir build & cd build 

cmake .. 

make -jX

The compiled examples should be inside the bin directory. Run:

        ./bin/example_essential_matrix

Install

In build folder:

        sudo make install

We also provide the uninstall script:

        sudo make uninstall

How to use the library in your project

See the example in the folder example_install for the basic elements.

  1. In your CMakeLists.txt, add the dependences:
        find_package(gncso REQUIRED)
        find_package(opengv REQUIRED)        
        find_package(Essential REQUIRED)
  1. For your executable, add the library in
        target_link_libraries(XXX Essential opengv gncso)
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Comments
  • Cheirality constraint

    Cheirality constraint

    Hi, Thank for sharing your work. I tested the solver many times and I found that it output some time solutions with points behind the cameras. I know chirality constraints are checked on minimal solver but, maybe I'm wrong, you do not mention this in your paper. Is it a known "issue" of your formulation ? If yes is there any mechanism your lib to mitigate this or should I rely on my own ? Thank in advance !

    opened by rjanvier 4
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