Related papers: Two view constraints on the epipoles from few corr…

It is known that epipolar geometry can be computed from three epipolar line correspondences but this computation is rarely used in practice since there are no simple methods to find corresponding lines. Instead, methods for finding…

This paper proposes the geometric relationship of epipolar geometry and orientation- and scale-covariant, e.g., SIFT, features. We derive a new linear constraint relating the unknown elements of the fundamental matrix and the orientation…

Identifying feature correspondence between two images is a fundamental procedure in three-dimensional computer vision. Usually the feature search space is confined by the epipolar line. Using the cheirality constraint, this paper finds that…

Given a set of point correspondences in two images, the existence of a fundamental matrix is a necessary condition for the points to be the images of a 3-dimensional scene imaged with two pinhole cameras. If the camera calibration is known…

We aim at estimating the fundamental matrix in two views from five correspondences of rotation invariant features obtained by e.g.\ the SIFT detector. The proposed minimal solver first estimates a homography from three correspondences…

We address the problem of epipolar geometry using the motion of silhouettes. Such methods match epipolar lines or frontier points across views, which are then used as the set of putative correspondences. We introduce an approach that…

Correspondences estimation or feature matching is a key step in the image-based 3D reconstruction problem. In this paper, we propose two algebraic properties for correspondences. The first is a rank deficient matrix construct from the…

A minimal solution using two affine correspondences is presented to estimate the common focal length and the fundamental matrix between two semi-calibrated cameras - known intrinsic parameters except a common focal length. To the best of…

This paper considers the foundational question of the existence of a fundamental (resp. essential) matrix given $m$ point correspondences in two views. We present a complete answer for the existence of fundamental matrices for any value of…

We present a novel approach for RANSAC-based computation of the fundamental matrix based on epipolar homography decomposition. We analyze the geometrical meaning of the decomposition-based representation and show that it directly induces a…

Extracting point correspondences from two or more views of a scene is a fundamental computer vision problem with particular importance for relative camera pose estimation and structure-from-motion. Existing local feature matching…

Finding correspondences in wide baseline setups is a challenging problem. Existing approaches have focused largely on developing better feature descriptors for correspondence and on accurate recovery of epipolar line constraints. This paper…

We study the challenging problem of estimating the relative pose of three calibrated cameras from four point correspondences. We propose novel efficient solutions to this problem that are based on the simple idea of using four…

We revisit certain problems of pose estimation based on 3D--2D correspondences between features which may be points or lines. Specifically, we address the two previously-studied minimal problems of estimating camera extrinsics from $p \in…

We propose an approach for estimating the relative pose between calibrated image pairs by jointly exploiting points, lines, and their coincidences in a hybrid manner. We investigate all possible configurations where these data modalities…

Change in viewpoint is one of the major factors for variation in object appearance across different images. Thus, view-invariant object recognition is a challenging and important image understanding task. In this paper, we propose a method…

We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…

Two-view triangulation is a problem of minimizing a quadratic polynomial under an equality constraint. We derive a polynomial that encodes the local minimizers of this problem using the theory of Lagrange multipliers. This offers a simpler…

Keypoint matching can be slow and unreliable in challenging conditions such as repetitive textures or wide-baseline views. In such cases, known geometric relations (e.g., the fundamental matrix) can be used to restrict potential…

Matching two images while estimating their relative geometry is a key step in many computer vision applications. For decades, a well-established pipeline, consisting of SIFT, RANSAC, and 8-point algorithm, has been used for this task.…