GlobalPointer ⚡️
Large-Scale Plane Adjustment with Bi-Convex Relaxation

ECCV 2024

This is the official implementation of our ECCV 2024 paper, "GlobalPointer: Large-Scale Plane Adjustment with Bi-Convex Relaxation". For more details, please visit our project page.

A globally optimal and efficient large-scale plane adjustment, using alternating minimization and convex relaxation techniques.

Setup

1. MATLAB r2023a
2. YALMIP Version R20230622
3. MOSEK Version 10.1.11

Running

Replace TODO codes

1. Find our main MATLAB script in main/sythetic_main.mlx and replace the following code.

2. Replace PATH_TO_YALMIP and PATH_TO_MOSEK with the paths to your own YALMIP and MOSEK solvers, respectively.

3. Replace PATH_TO_PROJECT with the path to your project root.

% ---------------------- TODO ----------------------
addpath(genpath("PATH_TO_YALMIP\YALMIP-master"))
addpath(genpath("PATH_TO_MOSEK\Mosek\10.1\toolbox\r2017a"))
root_path = "PATH_TO_PROJECT\GlobalPointer\";
addpath(genpath(root_path))
% ---------------------- TODO END ----------------------

Select experiment

We provide three full experiment setups:

• Increasing point cloud noise
• Increasing pose initialization noise
• Increasing the number of poses and planes

% ---------------------- Experiment Selection Setup ----------------------
% please select your experiment setup
param.increasing_point_noise = false;
param.increasing_pose_noise = false;
param.increasing_scale = true;
% ---------------------- Experiment Selection Setup END ----------------------

Example results

These are example results after running the above code. As shown in these figures, we test our method against the classical nonlinear least-squares method, the classical plane adjustment method, and their decoupled variants.

Citation

If you find our work useful in your research, please consider citing:

@inproceedings{Liao2024GlobalPointer,
    author 	= {Bangyan Liao and Zhenjun Zhao and Lu Chen and Haoang Li and Daniel Cremers and Peidong Liu},
    title 	= {GlobalPointer: Large-Scale Plane Adjustment with Bi-Convex Relaxation},
    booktitle = {European Conference on Computer Vision (ECCV)},
    year 	= 2024,
    keywords = {Plane Adjustment, Semidefinite Programming (SDP), Convex Relaxation}
}