IEEE Trans Pattern Anal Mach Intell - Hop-Diffusion Monte Carlo for Epipolar Geometry Estimation between Very Wide-Baseline Images.

Tópicos

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Resumo

We present a Monte Carlo approach for epipolar geometry estimation that efficiently searches for minimal sets of inlier correspondences in the presence of many outliers in the putative correspondence set, a condition that is prevalent when we have wide baselines, significant scale changes, rotations in depth, occlusion, and repeated patterns. The proposed Monte Carlo algorithm uses Balanced LOcal and Global Search (BLOGS) to find the best minimal set of correspondences. The local search is a diffusion process using Joint Feature Distributions that captures the dependencies among the correspondences. And, the global search is a hopping search process across the minimal set space controlled by photometric properties. Using a novel experimental protocol that involves computing errors for manually marked ground truth points and images with outlier rates as high as 90%, we find that BLOGS is better than related approaches such as MAPSAC, NAPSAC, and BEEM. BLOGS results are of similar quality as other approaches, but generates it in 10 times fewer iterations. The time per iteration for BLOGS is also the lowest among the ones we studied.

Resumo Limpo

present mont carlo approach epipolar geometri estim effici search minim set inlier correspond presenc mani outlier putat correspond set condit preval wide baselin signific scale chang rotat depth occlus repeat pattern propos mont carlo algorithm use balanc local global search blog find best minim set correspond local search diffus process use joint featur distribut captur depend among correspond global search hop search process across minim set space control photometr properti use novel experiment protocol involv comput error manual mark ground truth point imag outlier rate high find blog better relat approach mapsac napsac beem blog result similar qualiti approach generat time fewer iter time per iter blog also lowest among one studi

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