opt_pose_gravity

This repository provides code for our CVPR 2021 paper "Globally optimal relative pose estimation with gravity prior."

Dependencies

• Eigen

Code

This code can be tested in Matlab e.g., mex optimal_gravity_opt.cpp

An example in provided in test.m

Reference

@inproceedings{ding2021globally,
title={Globally optimal relative pose estimation with gravity prior},
author={Ding, Yaqing and Barath, Daniel and Yang, Jian and Kong, Hui and Kukelova, Zuzana},
booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
pages={394--403},
year={2021}
}