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jizhaox / npt-pose

[IEEE TPAMI] An Efficient Solution to Non-Minimal Case Essential Matrix Estimation
GNU General Public License v3.0
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Combination with graduated non-convex does not work #3

Closed hitdshu closed 2 years ago

hitdshu commented 2 years ago

Hi,

Thanks for your excellent work. I've reproduced your algorithm with MATLAB/C++ and got quite good results.

However, when I combine the algorithm with GNC(Graduated non convex), I could not get meaningful results. Even with few outliers, the algorithm returns solutions that are not that good.

I use GM/TLS GNC to add weights to each point, and use the algebraic error "pj.dot(ess * pi)" as the cost. I also tried the sampson error. Could you please help me with it? Or could you release your code for the GNC?

Thanks very much, Deshun

jizhaox commented 2 years ago

Hi,

I do have plan to release the code of GNC part. Since this code need refactoring, it might be finished a few weeks later. I will reply in this thread once it is released. You can contact me by email to discuss your code before that.

hitdshu commented 2 years ago

Hi,

I do have plan to release the code of GNC part. Since this code need refactoring, it might be finished a few weeks later. I will reply in this thread once it is released. You can contact me by email to discuss your code before that.

Thanks. I'll extract some code and send it to you via email. Thanks for your help.

Deshun