The solver of quadratic pose estimation problems (QPEPs) with random sample consensus (RANSAC). Please first compile and install LibQPEP via https://github.com/zarathustr/QPEP. Then, install the Ceres Solver. Finally, you can compile the QPEP-RANSAC examples in the src folder.
Wu, J., Zheng, Y., Gao, Z., Jiang, Y., Hu, X., Zhu, Y., Jiao, J., Liu, M. (2022) Quadratic Pose Estimation Problems: Globally Optimal Solutions, Solvability/Observability Analysis and Uncertainty Description, IEEE Transactions on Robotics (T-RO).