vlarsson
TangentSampson for relative pose estimation
Integrate Tsamp error into the robust estimator and refinement.
https://openaccess.thecvf.com//content/ICCV2023/papers/Terekhov_Tangent_Sampson_Error_Fast_Approximate_Two-view_Reprojection_Error_for_Central_ICCV_2023_paper.pdf
I have implemented Tangent Sampson Error for division model radial distortion solvers in my fork: https://github.com/kocurvik/PoseLib/tree/rd
We plan to release an Arxiv version of our paper benchmarking the different approaches for the F+radial distortion params solvers. I could then prepare a PR with the solvers that perform best.
That would be great! Thanks for your contributions.
There is a work-in-progress branch that is refactoring the camera models to be 2d-3d instead of 2d-2d, which includes the division model as well.
https://github.com/PoseLib/PoseLib/blob/camera_models/PoseLib/misc/camera_models.h
Plan is to also have each camera give jacobians w.r.t. params vector there as well. Then the refinement could use all camera models and not just division (for TS at least). But of course, we can merge your initial implementation first and worry about integrating this later.
There is also a related PR here https://github.com/PoseLib/PoseLib/pull/61 with H distortion solvers that we also should also integrate at some point