Carl Olsson, Anders Eriksson, Richard Hartley,
Outlier Removal using Duality
CVPR 2010 (pdf)
Datasets:
The following datasets where used in the paper.
The images them selves are not included here because of size restrictions.
If you want the images send me a mail, and I'll see what I can do.
Code:
Here is the code that was used in the paper.
The code requires matlab and SeDuMi, and is supplied with absolutely no guarantees whatsoever.
If you use it cite the paper. The methods are listed roughly in the order of computation times
and if you have large datasets you might want to stay clear of the final two methods.
The implementation of Gugats method could be of use once the outliers have been removed.
However, the bisection version is never of any use other than for comparisons...
Here is a matlab script that runs the L1algorithm.
It requires this
mfile, which solves the known rotation problem with slack variables,
and this
bundle adjustment routine.
Here is a matlab script that runs outlier removal using the dual variables.
It requires this
mfile, which solves the (primal and dual of the) known rotation feasibility problem with a single slack variable,
and this
bundle adjustment routine.
Here is a matlab script that runs outlier removal by solving the known rotation problem
repeatedly. The Linfinity problem is solved using Gugats method, which is implemented
here, roughly as outlined in
Agarwal etal.
It also requires the
bundle adjustment routine.
Here is a matlab script that runs outlier removal by solving the known rotation problem
repeatedly. The Linfinity problem is solved using the bisection method, which is implemented
here. It also requires the
bundle adjustment routine.
Address: Centre for Mathematical Sciences, Lund University, PO Box 118, 221 00 Lund, Sweden
Phone: +46 46 222 85 65, Fax: +46 46 222 40 10
Email: calle@maths.lth.se
