The Quintessential Matrix Estimation (QME) repository solves the non-minimal Essential matrix estimation problem as described in the paper Essential Matrix Estimation using Convex Relaxations in Orthogonal Space.
The C++ version of QME uses the Optimization library by David Rosen. To run the code, first, clone the repository with its submodule. Then, run the following commands in the terminal.
git clone --recurse-submodules https://github.com/armandok/QME.git
cd QME
mkdir build && cd build
cmake ..
make
Then run the main application by ./main and check the data and result folders.
To run the MATLAB code, you must have Manopt installed and added to the path. Then simply run main.m with MATLAB. For the comparison of the Riemmanian staircase method with an SDP solver, you need to have YALMIP installed with an SDP solver like SDPT3.