A RANSAC-based algorithm for robust estimation of epipolar geometry from point correspondences in the possible presence of a dominant scene plane is presented. The algorithm handles scenes with (i) all points in a single plane, (ii) majority of points in a single plane and the rest off the plane, (iii) no dominant plane. It is not required to know a priori which of the cases (i)-(iii) occurs. The algorithm exploits a theorem we proved, that if five or more of seven correspondences are related by a homography then there is an epipolar geometry consistent with the seven-tuple as well as with all correspondences related by the homography. This means that a seven point sample consisting of two outliers and five inliers lying in a dominant plane produces an epipolar geometry which is wrong and yet consistent with a high number of correspondences. The theorem explains why RANSAC often fails to estimate epipolar geometry in the presence of a dominant plane. Rather surprisingly, the theorem also implies that RANSAC-based homography estimation is faster when drawing nonminimal samples of seven correspondences than minimal samples of four correspondences.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Two-view geometry estimation unaffected by a dominant plane


    Beteiligte:
    Chum, O. (Autor:in) / Werner, T. (Autor:in) / Matas, J. (Autor:in)


    Erscheinungsdatum :

    01.01.2005


    Format / Umfang :

    398642 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Linear two-view multiple plane geometry

    Kirchhof, M. | British Library Online Contents | 2008


    Unaffected by Ukraine conflict, but concerns persist

    Bruno, Michael | Online Contents | 2014




    Overconstrained Linear Estimation of Radial Distortion and Multi-view Geometry

    Steele, R. M. / Jaynes, C. | British Library Conference Proceedings | 2006