In this paper we study the numerical instabilities of the 5- and 7-point problems for essential and fundamental matrix estimation in multiview geometry.
We present the Brown Pedestrian Odometry Dataset (BPOD) for benchmarking visual odometry algorithms in head-mounted pedestrian settings.
Homotopy Continuation (HC) can solve more complex problems without the stability issues, and with guarantees of a global solution, but they are known to be slow.
1 code implementation • 23 Mar 2019 • Ricardo Fabbri, Timothy Duff, Hongyi Fan, Margaret Regan, David da Costa de Pinho, Elias Tsigaridas, Charles Wampler, Jonathan Hauenstein, Benjamin Kimia, Anton Leykin, Tomas Pajdla
We present a new minimal problem for relative pose estimation mixing point features with lines incident at points observed in three views and its efficient homotopy continuation solver.