PoseLib

Minimal solvers for calibrated camera pose estimation

PoseLib provides a collection of minimal solvers for camera pose estimation. The focus is on calibrated absolute pose estimation problems from different types of correspondences (e.g. point-point, point-line, line-point, line-line). The goals of this project are to provide - Fast and robust implementation of the current state-of-the-art solvers. - Consistent calling interface between different solvers. - Minimize dependencies, both external (currently only Eigen) and internal. Each solver is (mostly) stand-alone, making it easy to extract only a specific solver to integrate into other frameworks. - Robust estimators (based on LO-RANSAC) that just works out-of-the-box for most cases.