Optimal relative pose with unknown correspondences
Paper i proceeding, 2016

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.


Johan Fredriksson

Lunds universitet

Viktor Larsson

Lunds universitet

Carl Olsson

Lunds universitet

Fredrik Kahl

Chalmers, Signaler och system, Signalbehandling och medicinsk teknik

Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition

10636919 (ISSN)

Vol. 2016-January 1728-1736
978-1-4673-8851-1 (ISBN)


Datorseende och robotik (autonoma system)





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