A $p$-adic RanSaC algorithm for stereo vision using Hensel lifting
Abstract
A -adic variation of the Ran(dom) Sa(mple) C(onsensus) method for solving the relative pose problem in stereo vision is developped. From two 2-adically encoded images a random sample of five pairs of corresponding points is taken, and the equations for the essential matrix are solved by lifting solutions modulo 2 to the 2-adic integers. A recently devised -adic hierarchical classification algorithm imitating the known LBG quantisation method classifies the solutions for all the samples after having determined the number of clusters using the known intra-inter validity of clusterings. In the successful case, a cluster ranking will determine the cluster containing a 2-adic approximation to the "true" solution of the problem.
Cite
@article{arxiv.0910.4839,
title = {A $p$-adic RanSaC algorithm for stereo vision using Hensel lifting},
author = {Patrick Erik Bradley},
journal= {arXiv preprint arXiv:0910.4839},
year = {2010}
}
Comments
15 pages; typos removed, abstract changed, computation error removed