This MATLAB code implements minimal and near-minimal solvers for the camera resection/absolute pose problem where the camera observes known structure through a known refractive plane. For details about the algorithms, please see the paper "Absolute Pose for Cameras Under Flat Refractive Interfaces", S. Haner and K. Åström, CVPR 2015.
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Solvers for camera absolute pose under refraction
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sebhaner/refractive_pose
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