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Robust relative pose estimation with integrated cheirality constraint
| Content Provider | CiteSeerX |
|---|---|
| Author | Mulligan, Jane Xu, Wei |
| Abstract | The cheirality constraint, which requires that re-constructed point correspondences lie in front of the cameras, has not typically been integrated into tradi-tional RANSAC-based pose estimators. We have de-veloped a new RANSAC-based relative pose estimator which incorporates the cheirality constraint not only to preempt invalid epipolar geometry hypotheses, but also as a criterion in identifying inliers for image fea-ture correspondences. Because the application of the cheirality constraint is tightly related to the estimation of epipolar geometry, integrating them inside RANSAC can prevent inliers being falsely identified as cheirality outliers. The result is a more consistent and stable es-timation which leaves denser feature correspondences |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Cheirality Outlier New Ransac-based Relative Pose Estimator Robust Relative Pose Estimation Integrated Cheirality Constraint Stable Es-timation Feature Correspondence Image Fea-ture Correspondence Tradi-tional Ransac-based Pose Estimator Cheirality Constraint Invalid Epipolar Geometry Hypothesis Re-constructed Point Correspondence |
| Content Type | Text |
