RobustUncertaintyAwareMultiviewTriangulation

MATLAB implementation of our multiview triangulation method proposed in "Robust Uncertainty-Aware Multiview Triangulation" (arXiv).

Instruction to run the triangulation code:

1. Download the 3D uncertainty grid (learned from the simulations): uncertainty.mat.
2. In the same folder, download the script.
3. Run the script on Matlab.

Instruction to run the uncertainty generation code:

1. Open GenerateUncertaintyData.m
2. Set load_precomputed_results = false;
3. Set n_simulations to the number of simulations you want to run for each number of cameras in n_cameras.
4. Run. If you use the default n_simulations, it will take a very long time to finish (possibly, more than a few days)...
5. This will create two files, uncertainty.mat and results_inliers.mat. Caution: this will overwrite the original uncertainty.mat! Make sure you rename the filename if you want to avoid this!
6. Set load_precomputed_results = true; and run. Then it will plot some of the results.