Minimal Solutions to Uncalibrated Two-view Geometry with Known Epipoles

© 2023 NEC Corporation

This repository is an official MATLAB implementation of the paper "Minimal Solutions to Uncalibrated Two-view Geometry with Known Epipoles", ICCV2023 (pdf) [1]. A Gröbner basis solvers used in the code were generated by [2] and [3].

License

This software is released under the NEC Corporation License. See LICENSE before using the code. If you use this code, please cite the paper.

@InProceedings{Nakano_2023_ICCV,
    author    = {Nakano, Gaku},
    title     = {Minimal Solutions to Uncalibrated Two-view Geometry with Known Epipoles},
    booktitle = {Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)},
    month     = {October},
    year      = {2023},
    pages     = {13361-13370}
}

For commercial use, please contact Gaku Nakano <g-nakano@nec.com>.

Usage

Install

Copy uncalibF_epipoles folder and set a path to the folder by addpath(genpath('uncalibF_epipoles'));.

Demo

Run demo_uncalibF_epipoles_nakano_iccv2023.m to understand how the proposed and conventional solvers work.

Errata in the paper

In Table 1, the number of solutions of P5fk should be 21, and that of P3fk should be 16.

Reference

1. Gaku Nakano, "Minimal Solutions to Uncalibrated Two-view Geometry with Known Epipoles", ICCV2023.
   (pdf)

2. Viktor Larsson et al., "Efficient Solvers for Minimal Problems by Syzygy-based Reduction," CVPR 2017.
   Code: http://people.inf.ethz.ch/vlarsson/misc/autogen_v0_5.zip

3. Evgeniy Martyushev et al., "Optimizing elimination templates by greedy parameter search," CVPR2022. Code: https://github.com/martyushev/EliminationTemplates

Contributors

• Gaku Nakano, Central Research Laboratories, NEC Corporation.
  g-nakano@nec.com
  (ENG) https://www.nec.com/en/global/rd/people/gaku_nakano.html
  (JPN) https://jpn.nec.com/rd/people/gaku_nakano.html