Certifiable solvers for the relative pose problem with known gravity vector

Estimate the relative pose between two calibrated cameras with known gravity vector. DIfferent formulations of the problem are used to certify the solution Refer to our paper HERE for more information.

Authors: Mercedes Garcia-Salguero, Javier Gonzalez-Jimenez

License: GNUv3

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

@ARTICLE{,
    author = {Garcia-Salguero, Mercedes and Gonzalez-Jimenez, Javier},
     title = {Fast certifiable relative pose estimation with gravity prior},
   journal = {Artificial Intelligence},
      year = {2023},
       url = {http://mapir.isa.uma.es/papersrepo/2023/2023_mercedes_AI_priorRPp_doc.pdf},
       doi = {https://doi.org/10.1016/j.artint.2023.103862}
}

Dependencies

The certifier requires :

1. Optimization by D. Rosen. We use our fork

https://github.com/mergarsal/Optimization

2. Iterative certifier by us.

https://github.com/mergarsal/QCQPIterCertifier

Use

git submodule update --init --recursive

To download the dependency

Build

git clone https://github.com/mergarsal/RedCertRPpPrior.git
cd RedCertRPpPrior

mkdir build & cd build 

cmake .. 

make -jX

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

        ./bin/example_basic