Andre Mateus1, Srikumar Ramalingam2, and Pedro Miraldo3
1Instituto Superior Tecnico, Lisboa
2Google Research, NYC
3Mitsubishi Electric Research Labs (MERL), Cambridge
This project provides minimal solvers for 3D registration using intersecting lines.
If you want to use solvers.cpp/hpp file, please cite:
@InProceedings{Mateus_2020_CVPR,
author = {Mateus, Andre and Ramalingam, Srikumar and Miraldo, Pedro},
title = {Minimal Solvers for 3D Scan Alignment With Pairs of Intersecting Lines},
booktitle = {The IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2020}
}
and
@article{Mateus_2023_IJCV,
title={Fast and Accurate 3D Registration from Line Intersection Constraints},
author={Mateus, Andr{\'e} and Ranade, Siddhant and Ramalingam, Srikumar and Miraldo, Pedro},
journal={International Journal of Computer Vision (IJCV)},
pages={1--26},
year={2023}
}
For solverPoints.cpp/hpp file, please cite:
@InProceedings{Miraldo_2019_CVPR,
author = {Miraldo, Pedro and Saha, Surojit and Ramalingam, Srikumar},
title = {Minimal Solvers for Mini-Loop Closures in 3D Multi-Scan Alignment},
booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2019}
}
For solverLines.cpp/hpp file, please cite:
@InProceedings{henrikstewenius2005solutions,
title={Solutions to minimal generalized relative pose problems},
author={HenrikStew{\'e}nius, MagnusOskarsson and Astr{\"o}m, Kalle and Nist{\'e}r, David},
year={2005},
booktitle={OMNIVIS}
}
We provide examples on how to use the solvers. The only dependency is Eigen3, to install it run
sudo apt-get install libeigen3-dev
Then, compile the code
cd 3DMinRegLineIntersect
mkdir build && cd build
cmake ..
make -j$(nthreads)
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