Fast and Reliable Two-View Translation Estimation
Författare
Summary, in English
It has long been recognized that one of the fundamental difficulties in the estimation of two-view epipolar geometry is the capability of handling outliers. In this paper, we develop a fast and tractable algorithm that maximizes the number of inliers under the assumption of a purely translating camera. Compared to classical random sampling methods, our approach is guaranteed to compute the optimal solution of a cost function based on reprojection errors and it has better time complexity. The performance is in fact independent of the inlier/outlier ratio of the data. This opens up for a more reliable approach to robust ego-motion estimation. Our basic translation estimator can be embedded into a system that computes the full camera rotation. We demonstrate the applicability in several difficult settings with large amounts of outliers. It turns out to be particularly well-suited for small rotations and rotations around a known axis (which is the case for cellular phones where the gravitation axis can be measured). Experimental results show that compared to standard RANSAC methods based on minimal solvers, our algorithm produces more accurate estimates in the presence of large outlier ratios.
Publiceringsår
2014
Språk
Engelska
Sidor
1606-1612
Publikation/Tidskrift/Serie
2014 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
Dokumenttyp
Konferensbidrag
Förlag
IEEE - Institute of Electrical and Electronics Engineers Inc.
Ämne
- Mathematics
- Computer Vision and Robotics (Autonomous Systems)
Conference name
27th IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2014
Conference date
2014-06-23 - 2014-06-28
Conference place
Columbus, OH, United States
Status
Published
ISBN/ISSN/Övrigt
- ISSN: 1063-6919