Related papers: On the Instability of Relative Pose Estimation and…
In this paper, we introduce a general framework for analyzing the numerical conditioning of minimal problems in multiple view geometry, using tools from computational algebra and Riemannian geometry. Special motivation comes from the fact…
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…
RANSAC is a popular technique for estimating model parameters in the presence of outliers. The best speed is achieved when the minimum possible number of points is used to estimate hypotheses for the model. Many useful problems can be…
Robust estimation is a cornerstone in computer vision, particularly for tasks like Structure-from-Motion and Simultaneous Localization and Mapping. RANSAC and its variants are the gold standard for estimating geometric models (e.g.,…
We present an approach to solving hard geometric optimization problems in the RANSAC framework. The hard minimal problems arise from relaxing the original geometric optimization problem into a minimal problem with many spurious solutions.…
Camera pose estimation for two-view geometry traditionally relies on RANSAC. Normally, a multitude of image correspondences leads to a pool of proposed hypotheses, which are then scored to find a winning model. The inlier count is generally…
How to efficiently and accurately handle image matching outliers is a critical issue in two-view relative estimation. The prevailing RANSAC method necessitates that the minimal point pairs be inliers. This paper introduces a linear relative…
Erroneous feature matches have severe impact on subsequent camera pose estimation and often require additional, time-costly measures, like RANSAC, for outlier rejection. Our method tackles this challenge by addressing feature matching and…
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…
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.…
The gold-standard for robustly estimating relative pose through image matching is RANSAC. While RANSAC is powerful, it requires setting the inlier threshold that determines whether the error of a correspondence under an estimated model is…
We reconsider the classic problem of estimating accurately a 2D transformation from point matches between images containing outliers. RANSAC discriminates outliers by randomly generating minimalistic sampled hypotheses and verifying their…
We present a robust estimator for fitting multiple parametric models of the same form to noisy measurements. Applications include finding multiple vanishing points in man-made scenes, fitting planes to architectural imagery, or estimating…
Vehicle relocation is the problem in which a mobile robot has to estimate the self-position with respect to an a priori map of landmarks using the perception and the motion measurements without using any knowledge of the initial…
For several decades, RANSAC has been one of the most commonly used robust estimation algorithms for many problems in computer vision and related fields. The main contribution of this paper lies in addressing a long-standing error baked into…
We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…
Learning-based scene representations such as neural radiance fields or light field networks, that rely on fitting a scene model to image observations, commonly encounter challenges in the presence of inconsistencies within the images caused…
We present a novel method to compute the relative pose of multi-camera systems using two affine correspondences (ACs). Existing solutions to the multi-camera relative pose estimation are either restricted to special cases of motion, have…
We revisit the problem of assigning a score (a quality of fit) to candidate geometric models -- one of the key components of RANSAC for robust geometric fitting. In a non-robust setting, the ``gold standard'' scoring function, known as the…
Estimating the homography matrix between images captured under radically different camera poses and zoom factors is a complex challenge. Traditional methods rely on the Random Sample Consensus (RANSAC) algorithm, which requires pairs of…