Software Listing of Author : "Andreas Geiger"

  • LIBELAS
  • License: Shareware
  • Price:

LIBELAS, also known as the Library for Efficient Large-scale Stereo Matching is built as a cross-platform C++ library with MATLAB wrappers for computing disparity maps from rectified graylevel stereo pairs.

It is robust against moderate changes in illumination and well suited for robotics applications with high resolution images. Computing the left and right disparity map of a one Megapixel image requires less than one second on a single i7 CPU core.


  • Platform: WinOther
  • LIBICP
  • License: Shareware
  • Price:

LIBICP a.k.a LIBrary for Iterative Closest Point fitting is designed as an accessible cross-platform C++ library with MATLAB wrappers for fitting 2D or 3D point clouds with respect to each other.

Currently it implements the SVD-based point-to-point algorithm as well as the linearized point-to-plane algorithm. It also supports outlier rejection and is accelerated by the use of kd trees as well as a coarse matching stage using only a subset of all points.


  • Platform: WinOther

LIBVISO2, also known as Library for Visual Odometry 2 is built to be a fast and cross-platform C++ library with MATLAB wrappers for computing the 6 DOF motion of a moving mono/stereo camera.

The stereo version is based on minimizing the reprojection error of sparse feature matches and is rather general (no motion model or setup restrictions except that the input images must be rectified and calibration parameters are known).

The monocular version is still very experimental and uses the 8-point algorithm for fundamental matrix estimation. It further assumes that the camera is moving at a known and fixed height over ground (for estimating the scale).

Due to the 8 correspondences needed for the 8-point algorithm, many more RANSAC samples need to be drawn, which makes the monocular algorithm slower than...

  • Platform: WinOther
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