NDLI: A brute-force algorithm for reconstructing a scene from two projections

Content Provider	IEEE Xplore Digital Library
Author	Enqvist, O. Fangyuan Jiang Kahl, F.
Copyright Year	2011
Description	Author affiliation: Centre for Mathematical Sciences, Lund University, Sweden (Enqvist, O.; Fangyuan Jiang; Kahl, F.)
Abstract	Is the real problem in finding the relative orientation of two viewpoints the correspondence problem? We argue that this is only one difficulty. Even with known correspondences, popular methods like the eight point algorithm and minimal solvers may break down due to planar scenes or small relative motions. In this paper, we derive a simple, brute-force algorithm which is both robust to outliers and has no such algorithmic degeneracies. Several cost functions are explored including maximizing the consensus set and robust norms like truncated least-squares. Our method is based on parameter search in a four-dimensional space using a new epipolar parametrization. In principle, we do an exhaustive search of parameter space, but the computations are very simple and easily parallelizable, resulting in an efficient method. Further speed-ups can be obtained by restricting the domain of possible motions to, for example, planar motions or small rotations. Experimental results are given for a variety of scenarios including scenes with a large portion of outliers. Further, we apply our algorithm to 3D motion segmentation where we outperform state-of-the-art on the well-known Hopkins-155 benchmark database.
Starting Page	2961
Ending Page	2968
File Size	3557598
Page Count	8
File Format	PDF
ISBN	9781457703942
ISSN	10636919
e-ISBN	9781457703959
DOI	10.1109/CVPR.2011.5995669
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-20
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cost function Upper bound Motion segmentation Tracking Computer vision Approximation methods Three dimensional displays
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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