1P1DP and MC1P1DP minimal solution
-
run benchmark_RANSACabsolute_pose_central.m
to evaluate the 1P1DP with increasing 2D noise
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run benchmark_RANSACabsolute_pose_MCnoncentral.m
to evaluate MC1P1DP with increasing 2D noise
support multiple reference images corresponding to one query image
support multiple query images
If you use this work for your research, please cite the respective paper:
@article{jiao2020robust,
title={Robust localization for planar moving robot in changing environment: A perspective on density of correspondence and depth},
author={Jiao, Yanmei and Liu, Lilu and Fu, Bo and Ding, Xiaqing and Wang, Minhang and Wang, Yue and Xiong, Rong},
journal={arXiv preprint arXiv:2011.00439},
year={2020}
}