Outlier correction from uncalibrated image sequence using the Triangulation method

Authors:
Jae-Hak Kim;Joon H. Han
Affiliations:
Department of Computer Science and Engineering, Pohang University of Science and Technology, San 31, Hyoja Dong, Pohang 790-784, Republic of Korea;Department of Computer Science and Engineering, Pohang University of Science and Technology, San 31, Hyoja Dong, Pohang 790-784, Republic of Korea
Venue:
Pattern Recognition
Year:
2006

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Abstract

We propose a robust algorithm for estimating the projective reconstruction from image features using the RANSAC-based Triangulation method. In this method, we select input points randomly, separate the input points into inliers and outliers by computing their reprojection error, and correct the outliers so that they can become inliers. The reprojection error and correcting outliers are computed using the Triangulation method. After correcting the outliers, we can reliably recover projective motion and structure using the projective factorization method. Experimental results showed that errors can be reduced significantly compared to the previous research as a result of robustly estimated projective reconstruction.