A Model-Selection Framework for Multibody Structure-and-Motion of Image Sequences
International Journal of Computer Vision
Recovering epipolar direction from two affine views of a planar object
Computer Vision and Image Understanding
Error Analysis in Homography Estimation by First Order Approximation Tools: A General Technique
Journal of Mathematical Imaging and Vision
Flow separation for fast and robust stereo odometry
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Model-based plane-segmentation using optical flow and dominant plane
MIRAGE'07 Proceedings of the 3rd international conference on Computer vision/computer graphics collaboration techniques
Simultaneous plane extraction and 2D homography estimation using local feature transformations
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part II
Exploiting loops in the graph of trifocal tensors for calibrating a network of cameras
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part II
Degeneracy from twisted cubic under two views
Journal of Computer Science and Technology
The six point algorithm revisited
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
3D geometry from uncalibrated images
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
Dense versus Sparse Approaches for Estimating the Fundamental Matrix
International Journal of Computer Vision
On Camera Calibration with Linear Programming and Loop Constraint Linearization
International Journal of Computer Vision
Robust focal length estimation by voting in multi-view scene reconstruction
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part I
Balanced exploration and exploitation model search for efficient epipolar geometry estimation
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part II
Twisted cubic: degeneracy degree and relationship with general degeneracy
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part II
Stable two view reconstruction using the six-point algorithm
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
Efficient and robust model fitting with unknown noise scale
Image and Vision Computing
Epipolar geometry estimation for wide baseline stereo by Clustering Pairing Consensus
Pattern Recognition Letters
Sampling Minimal Subsets with Large Spans for Robust Estimation
International Journal of Computer Vision
| Hi-index | 0.01 |
A RANSAC-based algorithm for robust estimation of epipolar geometry from point correspondences in the possible presence of a dominant scene plane is presented. The algorithm handles scenes with (i) all points in a single plane, (ii) majority of points in a single plane and the rest off the plane, (iii) no dominant plane. It is not required to know a priori which of the cases (i) 驴 (iii) occurs. The algorithm exploits a theorem we proved, that if five or more of seven correspondences are related by a homography then there is an epipolar geometry consistent with the seven-tuple as well as with all correspondences related by the homography. This means that a seven point sample consisting of two outliers and five inliers lying in a dominant plane produces an epipolar geometry which is wrong and yet consistent with a high number of correspondences. The theorem explains why RANSAC often fails to estimate epipolar geometry in the presence of a dominant plane. Rather surprisingly, the theorem also implies that RANSAC-based homography estimation is faster when drawing non-minimal samples of seven correspondences than minimal samples of four correspondences.