Multi-scale clustering of frame-to-frame correspondences for motion segmentation
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part II
Interactive object modelling based on piecewise planar surface patches
Computer Vision and Image Understanding
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We present a new method for the robust detection and matching of multiple planes in pairs of images. Such planes can serve as stable landmarks for vision-based urban navigation. Our approach starts from SIFT matches and generates multiple local homography hypotheses using the recent J-linkage technique by Toldo and Fusiello, a robust randomized multi-model estimation algorithm. These hypotheses are then globally merged, spatially analyzed, robustly fitted, and checked for stability. When tested on more than 30,000 image pairs taken from panoramic views of a college campus, our method yields no false positives and recovers 72% of the matchable building walls identified by a human, despite significant occlusions and viewpoint changes.