This code is a demo of the algorithms in "Wen, Zou, Ying, Liu, Efficient outlier removal for large scale global structure-from-motion, arXiv preprint, arXiv:1808.03041, 2018"

This code is modified from that of Carl Olsson at http://www.maths.lth.se/matematiklth/personal/calle/, "Olsson, Eriksson, Hartley, Outlier Removal using Duality, CVPR2010". The "bundle.m" and "krot_slack.m" are direct copy from Carl Olsson's, which are used here for comparison.

The used dadaset is also provided by Olsson at http://www.maths.lth.se/matematiklth/personal/calle/ which has been used in their paper "Olsson, Eriksson, Hartley, Outlier Removal using Duality, CVPR2010". We copy it here for ease of use and for academic use purpose to illustrate the comparison results of the algorithms in our paper.

SeDuMi is need in solving the LP problems.