论文标题
可认证的相对姿势估计
Certifiable Relative Pose Estimation
论文作者
论文摘要
在本文中，我们介绍了第一个针对受外聚约束的校准相机的相对姿势问题的非最小版本的快速最佳认证器。拟议的认证者基于拉格朗日二元性，并依赖于双重点的新型闭合表达式。我们还利用了一种有效的求解器，该求解器对原始问题的非凸域的流形执行局部优化。然后，通过我们的新型快速认证仪检查解决方案的最佳性。广泛进行的实验表明，尽管具有简单性，但该可认证的求解器在合成数据上表现出色，并反复获得（认证的\ textit {a posteriori}）最佳解决方案，并在真实数据上表现出令人满意的性能。
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. We also leverage an efficient solver that performs local optimization on the manifold of the original problem's non-convex domain. The optimality of the solution is then checked via our novel fast certifier. The extensive conducted experiments demonstrate that, despite its simplicity, this certifiable solver performs excellently on synthetic data, repeatedly attaining the (certified \textit{a posteriori}) optimal solution and shows a satisfactory performance on real data.
