Certifiable Relative Pose Estimation

30 Mar 2020Mercedes Garcia-SalgueroJesus BrialesJavier Gonzalez-Jimenez

In this paper we present the first fast optimality certifier for the non-minimal version of the Relative Pose problem for calibrated cameras from epipolar constraints. The proposed certifier is based on Lagrangian duality and relies on a novel closed-form expression for dual points... (read more)

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