A QCQP Approach for Triangulation

Reconstruction of a 3D world point from n≥2 noisy 2D images is referred to as the triangulation problem and is fundamental in multi-view geometry. We show how this problem can be formulated as a quadratically constrained quadratic program and discuss an algorithm to construct candidate solutions. We also present a polynomial time test motivated by the underlying geometry of the triangulation problem to confirm optimality of such a solution. Based on work by Chris Aholt, Sameer Agarwal, and Rekha Thomas.