This repo contains an implementation of the Iteratively Reweighted MidPoint method (IRMP) for fast multiple view triangulation. It also contains a comparsion between the IRMP method and doing multiple view triangulation using Ceres. The corresponding paper is now available at IEEE Xplore.
If you use this code in an academic context, please cite the following paper:
@ARTICLE{yangkui_irmp,
author={K. Yang and W. Fang and Y. Zhao and N. Deng},
journal={IEEE Robotics and Automation Letters},
title={Iteratively Reweighted Midpoint Method for Fast Multiple View Triangulation},
year={2019},
volume={4},
number={2},
pages={708-715},
doi={10.1109/LRA.2019.2893022},
ISSN={2377-3766},
month={April},}
- Ceres
- Eigen
mkdir build
cd build
cmake ..
make -j4./triangulation