OpenGV: A Unified and Generalized Approach to Real-Time Calibrated Geometric Vision

July 17, 2014 in ETHZ-ASL, Publications, year 4 by admin

Laurent Kneip and Paul Timothy Furgale

IEEE International Conference on Robotics and Automation (ICRA) 2014

OpenGV is a new C++ library for calibrated real- time 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 com- pleteness 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.


@inproceedings{kneip_icra14,
year = { 2014 },
codeurl = { http://laurentkneip.github.io/opengv/ },
note = { (\href{http://laurentkneip.github.io/opengv/}{code}) },
pages = { 1--8 },
url = { bib/kneip_icra14.pdf },
title = { OpenGV: A Unified and Generalized Approach to Real-Time
Calibrated Geometric Vision },
booktitle = { Proceedings of the IEEE International Conference on
Robotics and Automation (ICRA) },
author = { Laurent Kneip and Paul Timothy Furgale },
month = { May 3 -- June 7 },
address = { Hong Kong, China },
}