• Admin
    UC Research Repository
    View Item 
       
    • UC Home
    • Library
    • UC Research Repository
    • College of Engineering
    • Engineering: Conference Contributions
    • View Item
       
    • UC Home
    • Library
    • UC Research Repository
    • College of Engineering
    • Engineering: Conference Contributions
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Browse

    All of the RepositoryCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

    Statistics

    View Usage Statistics

    Fast RANSAC hypothesis generation for essential matrix estimation

    Thumbnail
    View/Open
    12635431_Botterill-Mills-Green-2011-Fivepoint.pdf (286.4Kb)
    Author
    Botterill, T.
    Mills, S.
    Green, R.
    Date
    2011
    Permanent Link
    http://hdl.handle.net/10092/6269

    The RANSAC framework is often used to estimate the relative pose of two cameras from outlier-contaminated point correspondences, via the essential matrix, however this is computationally expensive due the cost of computing essential matrices from many sets of five to seven correspondences. The leading contemporary 5-point solver (Nister, 2004) is slow because of the expensive linear algebra decompositions and polynomial solve which are required. To avoid these costs we propose to use Levenberg-Marquardt optimisation on a manifold to find a subset of the compatible essential matrices. The proposed algorithm finds essential matrices at a higher rate than closed-form approaches, and reduces the time needed to find relative poses using RANSAC by 25%. The second contribution of this paper is to apply the optimisations used in 5-point solvers to the classic 7-point algorithm. RANSAC using the optimised 7-point algorithm is considerably faster than 5-point RANSAC (unless planar point configurations are common), despite the increased number of iterations necessary.

    Subjects
    Field of Research::01 - Mathematical Sciences::0101 - Pure Mathematics::010101 - Algebra and Number Theory
     
    Field of Research::08 - Information and Computing Sciences::0802 - Computation Theory and Mathematics::080201 - Analysis of Algorithms and Complexity
     
    Field of Research::08 - Information and Computing Sciences::0801 - Artificial Intelligence and Image Processing::080104 - Computer Vision
    Collections
    • Engineering: Conference Contributions [1920]
    Rights
    https://canterbury.libguides.com/rights/ir

    UC Research Repository
    University Library
    University of Canterbury
    Private Bag 4800
    Christchurch 8140

    Phone
    364 2987 ext 8718

    Email
    ucresearchrepository@canterbury.ac.nz

    Follow us
    FacebookTwitterYoutube

    © University of Canterbury Library
    Send Feedback | Contact Us