Optimal essential matrix estimation via inlier-set maximization
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Yang, Jiaolong; Li, Hongdong; Jia, Yunde
Description
In this paper, we extend the globally optimal "rotation space search" method [11] to essential matrix estimation in the presence of feature mismatches or outliers. The problem is formulated as inlier-set cardinality maximization, and solved via branch-and-bound global optimization which searches the entire essential manifold formed by all essential matrices. Our main contributions include an explicit, geometrically meaningful essential manifold parametrization using a 5D direct product space of...[Show more]
Collections | ANU Research Publications |
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Date published: | 2014 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/75350 |
Source: | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
DOI: | 10.1007/978-3-319-10590-1_8 |
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01_Yang_Optimal_essential_matrix_2014.pdf | 645.42 kB | Adobe PDF | Request a copy |
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