Estimating 3D Egomotion from Perspective Image Sequence
IEEE Transactions on Pattern Analysis and Machine Intelligence
SUSAN—A New Approach to Low Level Image Processing
International Journal of Computer Vision
The Development and Comparison of Robust Methodsfor Estimating the Fundamental Matrix
International Journal of Computer Vision
Determining the Epipolar Geometry and its Uncertainty: A Review
International Journal of Computer Vision
Evaluation of Interest Point Detectors
International Journal of Computer Vision - Special issue on a special section on visual surveillance
ROR: Rejection of Outliers by Rotations
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
In defence of the 8-point algorithm
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Robust Computation and Parametrization of Multiple View Relations
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Scale & Affine Invariant Interest Point Detectors
International Journal of Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Localization in Urban Environments: Monocular Vision Compared to a Differential GPS Sensor
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
A Performance Evaluation of Local Descriptors
IEEE Transactions on Pattern Analysis and Machine Intelligence
On-Road Vehicle Detection: A Review
IEEE Transactions on Pattern Analysis and Machine Intelligence
Outlier rejection by oriented tracks to aid pose estimation from video
Pattern Recognition Letters
Real Time Localization and 3D Reconstruction
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Monocular Vision Based SLAM for Mobile Robots
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 03
Generalized RANSAC Framework for Relaxed Correspondence Problems
3DPVT '06 Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
Automatic free parking space detection by using motion stereo-based 3D reconstruction
Machine Vision and Applications
Focus of expansion localization through inverse C-velocity
ICIAP'11 Proceedings of the 16th international conference on Image analysis and processing: Part I
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This paper proposes an algorithm for rejecting false matches (known as outliers) in image pairs acquired with automobile-mounted cameras. Many intelligent vehicle applications require point correspondences for motion estimation and 3D reconstruction which can be affected by outliers. We use the property of automobile motion to reject outliers. Automobile motion mostly represented by two translations and one rotation. The proposed algorithm eliminates the rotational effect and estimates the focus of expansion (FOE). Once the FOE is estimated, the joining line directions with respect to the FOE are used for rejecting the outliers. This algorithm is simple and its computational cost is independent of the outlier percentage. Experimental results show that the proposed algorithm rejects a large number of outliers but retains most inliers when working with synthetic and real image pairs. It works even when the initial matches are contaminated by 80-90% of the outliers. As a pre-processing step of RANSAC, it significantly reduces the computational cost when initial matches include a large number of outliers.