Registration based on online estimation of trifocal tensors using point and line correspondences

Authors:
Tao Guan;Lijun Li;Cheng Wang
Affiliations:
Digital Engineering and Simulation Centre, Huazhong University of Science and Technology, Wuhan, China;Digital Engineering and Simulation Centre, Huazhong University of Science and Technology, Wuhan, China;Digital Engineering and Simulation Centre, Huazhong University of Science and Technology, Wuhan, China
Venue:
ICVR'07 Proceedings of the 2nd international conference on Virtual reality
Year:
2007

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Abstract

This paper illustrates a novel registration method based on robust estimation of trifocal tensors using point and line correspondences synthetically. The proposed method distinguishes itself in following ways: Firstly, besides feature points, line segments are also used to calculate the needed trifocal tensors. The registration process can still be achieved even under poorly textured scenes. Secondly, to estimate trifocal tensors precisely, we use PROSAC instead of RANSAC algorithm to remove outliers. While improving the accuracy of our system, PROSAC also reduces the computation complexity to a large degree.