| 1. |
- Fredriksson, Johan, et al.
(författare)
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Fast and Reliable Two-View Translation Estimation
- 2014
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Ingår i: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition. - 1063-6919. - 9781479951178 ; , s. 1606-1612
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Konferensbidrag (refereegranskat)abstract
- 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.
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| 2. |
- Fredriksson, Johan, et al.
(författare)
-
Optimal relative pose with unknown correspondences
- 2016
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Ingår i: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition. - 1063-6919. - 9781467388511 ; 2016-January, s. 1728-1736
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Konferensbidrag (refereegranskat)abstract
- Previous work on estimating the epipolar geometry of two views relies on being able to reliably match feature points based on appearance. In this paper, we go one step further and show that it is feasible to compute both the epipolar geometry and the correspondences at the same time based on geometry only. We do this in a globally optimal manner. Our approach is based on an efficient branch and bound technique in combination with bipartite matching to solve the correspondence problem. We rely on several recent works to obtain good bounding functions to battle the combinatorial explosion of possible matchings. It is experimentally demonstrated that more difficult cases can be handled and that more inlier correspondences can be obtained by being less restrictive in the matching phase.
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| 3. |
- Larsson, Viktor, et al.
(författare)
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Outlier rejection for absolute pose estimation with known orientation
- 2016
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Ingår i: British Machine Vision Conference 2016, BMVC 2016. ; 2016-September, s. 45.1-45.12
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Konferensbidrag (refereegranskat)abstract
- Estimating the pose of a camera is a core problem in many geometric vision applications. While there has been much progress in the last two decades, the main difficulty is still dealing with data contaminated by outliers. For many scenes, e.g. with poor lightning conditions or repetitive textures, it is common that most of the correspondences are outliers. For real applications it is therefore essential to have robust estimation methods. In this paper we present an outlier rejection method for absolute pose estimation. We focus on the special case when the orientation of the camera is known. The problem is solved by projecting to a lower dimensional subspace where we are able to efficiently compute upper bounds on the maximum number of inliers. The method guarantees that only correspondences which cannot belong to an optimal pose are removed. In a number of challenging experiments we evaluate our method on both real and synthetic data and show improved performance compared to competing methods.
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