Shape and motion from image streams under orthography: a factorization method
International Journal of Computer Vision
Geometric invariance in computer vision
Geometric invariance in computer vision
Navigation using affine structure from motion
ECCV '94 Proceedings of the third European conference on Computer Vision (Vol. II)
Artificial Intelligence - Special volume on computer vision
The Development and Comparison of Robust Methodsfor Estimating the Fundamental Matrix
International Journal of Computer Vision
CONDENSATION—Conditional Density Propagation forVisual Tracking
International Journal of Computer Vision
The Problem of Degeneracy in Structure and Motion Recovery from Uncalibrated Image Sequences
International Journal of Computer Vision - 1998 Marr Prize
Three D-Dynamic Scene Analysis: A Stereo Based Approach
Three D-Dynamic Scene Analysis: A Stereo Based Approach
Artificial Vision for Mobile Robots: Stereo Vision and Multisensory Perception
Artificial Vision for Mobile Robots: Stereo Vision and Multisensory Perception
Estimation of Relative Camera Positions for Uncalibrated Cameras
ECCV '92 Proceedings of the Second European Conference on Computer Vision
What can be seen in three dimensions with an uncalibrated stereo rig
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Hierarchical Model-Based Motion Estimation
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Parallax Geometry of Pairs of Points for 3D Scene Analysis
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
3D Model Acquisition from Extended Image Sequences
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
A Statistical Framework for Long-Range Feature Matching in Uncalibrated Image Mosaicing
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
A unifying framework for structure and motion recovery from image sequences
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Object Localization by Bayesian Correlation
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Robust Computation and Parametrization of Multiple View Relations
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Combining Appearance and Topology for Wide Baseline Matching
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part I
| Hi-index | 0.00 |
This paper proposes a new method for effecting feature correspondence between images. The method operates from coarse to fine and is superior to previous methods in that it can solve the wide baseline stereo problem, even when the image has been deformed or rotated. At the coarsest level a RANSAC-style estimator is used to estimate the two view image constraint R which is then used to guide matching. The two view relation is an augmented fundamental matrix, being a fundamental matrix plus a homography consistent with that fundamental matrix. This is akin to the plane plus parallax representation with the homography being used to help guide matching and to mitigate the effects of image deformation. In order to propagate the information from coarse to fine images, the distribution of the parameters Θ of R is encoded using a set of particles and an importance sampling function. It is not known in general how to choose the importance sampling function, but a new method "IMPSAC" is presented that automatically generates such a function. It is shown that the method is superior to previous single resolution RANSAC-style feature matchers.