Globally-Optimal-Consensus-Maximization-for-Relative-Pose-Estimation-with-Known-Gravity-Direction

"Globally Optimal Consensus Maximization for Relative Pose Estimation With Known Gravity Direction," in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5905-5912, July 2021, doi: 10.1109/LRA.2021.3087080. https://ieeexplore.ieee.org/document/9447984

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• Author: Yinlong.Liu(at)tum.de
• Date: Feb-2021
• MATLAB 2020A

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• Step 1

run First_dynamic_show.m

• Step 2

run test_noise.m