Optimal Relative Pose with Unknown Correspondences
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.
Cite
Text
Fredriksson et al. "Optimal Relative Pose with Unknown Correspondences." Conference on Computer Vision and Pattern Recognition, 2016. doi:10.1109/CVPR.2016.191Markdown
[Fredriksson et al. "Optimal Relative Pose with Unknown Correspondences." Conference on Computer Vision and Pattern Recognition, 2016.](https://mlanthology.org/cvpr/2016/fredriksson2016cvpr-optimal/) doi:10.1109/CVPR.2016.191BibTeX
@inproceedings{fredriksson2016cvpr-optimal,
title = {{Optimal Relative Pose with Unknown Correspondences}},
author = {Fredriksson, Johan and Larsson, Viktor and Olsson, Carl and Kahl, Fredrik},
booktitle = {Conference on Computer Vision and Pattern Recognition},
year = {2016},
doi = {10.1109/CVPR.2016.191},
url = {https://mlanthology.org/cvpr/2016/fredriksson2016cvpr-optimal/}
}