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OpenGV: A Unified and Generalized Approach to Calibrated Geometric Vision

Kneip, Laurent; Furgale, Paul

Description

OpenGV is a new C++ library for calibrated realtime 3D geometric vision. It unifies both central and non-central absolute and relative camera pose computation algorithms within a single library. Each problem type comes with minimal and non-minimal closed-form solvers, as well as non-linear iterative optimization and robust sample consensus methods. OpenGV therefore contains an unprecedented level of completeness with regard to calibrated geometric vision algorithms, and it is the first library...[Show more]

dc.contributor.authorKneip, Laurent
dc.contributor.authorFurgale, Paul
dc.coverage.spatialHong Kong
dc.date.accessioned2015-12-08T22:36:42Z
dc.date.createdMay 31 2014-June 7 2014
dc.identifier.urihttp://hdl.handle.net/1885/35358
dc.description.abstractOpenGV is a new C++ library for calibrated realtime 3D geometric vision. It unifies both central and non-central absolute and relative camera pose computation algorithms within a single library. Each problem type comes with minimal and non-minimal closed-form solvers, as well as non-linear iterative optimization and robust sample consensus methods. OpenGV therefore contains an unprecedented level of completeness with regard to calibrated geometric vision algorithms, and it is the first library with a dedicated focus on a unified real-time usage of non-central multi-camera systems, which are increasingly popular in robotics and in the automotive industry. This paper introduces OpenGV's flexible interface and abstraction for multi-camera systems, and outlines the performance of all contained algorithms. It is our hope that the introduction of this open-source platform will motivate people to use it and potentially also include more algorithms, which would further contribute to the general accessibility of geometric vision algorithms, and build a common playground for the fair comparison of different solutions.
dc.publisherIEEE
dc.relation.ispartofseries2014 IEEE International Conference on Robotics and Automation (ICRA)
dc.source2014 IEEE International Conference on Robotics and Automation (ICRA)
dc.source.urihttp://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6906952&tag=1
dc.titleOpenGV: A Unified and Generalized Approach to Calibrated Geometric Vision
dc.typeConference paper
local.description.notesImported from ARIES
dc.date.issued2014
local.identifier.absfor080104 - Computer Vision
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationU5431022xPUB123
local.type.statusPublished Version
local.contributor.affiliationKneip, Laurent, College of Engineering and Computer Science, ANU
local.contributor.affiliationFurgale, Paul, Swiss Federal Institute of Technology Zurich (ETH Zurich)
local.description.embargo2037-12-31
local.identifier.doi10.1109/ICRA.2014.6906582
local.identifier.absseo970108 - Expanding Knowledge in the Information and Computing Sciences
dc.date.updated2015-12-08T09:52:21Z
local.identifier.scopusID2-s2.0-84925313379
CollectionsANU Research Publications

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