MATLAB code for my spherical motion solvers is available under BSD license at GitHub.

Optimized C++ code for my multi-camera motion estimation solvers is available under BSD license at GitHub.

My templated C++ class for polynomial algebra and root-finding, including a fast implementation of Sturm sequences, is available under BSD license at GitHub.

A MATLAB implementation of the algorithm described in my recent paper "A Minimal Solution to the Generalized Pose-and-Scale Problem" is available under BSD license at GitHub.

The localization and tracking code from my paper "Wide-area scene mapping for mobile visual tracking" is available under BSD license at GitHub. An example dataset is also available for download (about 400 MB).