From Correspondences to Pose: Non-Minimal Certifiably Optimal Relative Pose Without Disambiguation

• Main Authors: Tirado-Garin, Javier, Civera, Javier
• Format: Conference Proceeding
• Language: English
• Subjects: Accuracy; Buildings; Codes; Computer vision; convex optimization; epipolar geometry; essential matrix; Geometry; non-minimal solver; Pose estimation; relative pose; semidefinite programming; Three-dimensional displays
• ISSN: 2575-7075
• DOI: 10.1109/CVPR52733.2024.00046

Estimating the relative camera pose from n ≥ 5 correspondences between two calibrated views is a fundamental task in computer vision. This process typically involves two stages: 1) estimating the essential matrix between the views, and 2) disambiguating among the four candidate relative poses that satisfy the epipolar geometry. In this paper, we demonstrate a novel approach that, for the first time, bypasses the second stage. Specifically, we show that it is possible to directly estimate the correct relative camera pose from correspondences without needing a post-processing step to enforce the cheirality constraint on the correspondences. Building on recent advances in certifiable non-minimal optimization, we frame the relative pose estimation as a Quadratically Constrained Quadratic Program (QCQP). By applying the appropriate constraints, we ensure the estimation of a camera pose that corresponds to a valid 3D geometry and that is globally optimal when certified. We validate our method through exhaustive synthetic and real-world experiments, confirming the efficacy, efficiency and accuracy of the proposed approach. Code is available at https://github.com/javrtg/C2P.