Certifiable relative pose estimation
作者：
Highlights：
• Family of minimally-constrained quadratic formulations for the Relative Pose problem.
• Problem whose KKT conditions fulfill the Linear Independence Constraint Qualification.
• Closed-form expression for dual points given the (potential) primal optimal solution.
• Define how to perform optimality certification, given a candidate dual solution.
• Develop the required calculus results to enable the new iterative solver.
摘要
•Family of minimally-constrained quadratic formulations for the Relative Pose problem.•Problem whose KKT conditions fulfill the Linear Independence Constraint Qualification.•Closed-form expression for dual points given the (potential) primal optimal solution.•Define how to perform optimality certification, given a candidate dual solution.•Develop the required calculus results to enable the new iterative solver.
论文关键词：Relative pose,Essential matrix,Epipolar constraint,Convex programming,Certifiable algorithm,Linear Independence constraint qualification
论文评审过程：Received 30 March 2020, Revised 4 October 2020, Accepted 16 February 2021, Available online 24 February 2021, Version of Record 6 March 2021.
论文官网地址：https://doi.org/10.1016/j.imavis.2021.104142
