Liran
Goshen
Ilan Shimshoni
Faculty
of Industrial Engineering & Management
Technion -
Israel Institute of Technology
The estimation
of the epipolar geometry is especially difficult where the putative
correspondences include a low percentage of inlier
correspondences and/or a large subset of the inliers is consistent with a
degenerate configuration of the epipolar geometry that is totally incorrect.
This work presents the Balanced Exploration and Exploitation Model Search
(BEEM) algorithm that works very well especially for these difficult scenes.
The BEEM algorithm handles the above two difficult cases in a unified manner.
The algorithm includes the following main features: (1) Balanced
use of three search techniques: global random exploration, local exploration
near the current best solution and local exploitation to improve the quality of
the model. (2) Exploits available prior information to accelerate the search
process. (3) Uses the best found model to guide the search process, escape from
degenerate models and to define an efficient stopping criterion. (4) Presents a
simple and efficient method to estimate the epipolar geometry from two SIFT
correspondences. (5) Uses the locality-sensitive hashing (LSH) approximate
nearest neighbor algorithm for fast putative correspondences generation.
The resulting algorithm when tested on real images with or without degenerate
configurations gives quality estimations and achieves significant speedups
compared to the state of the art algorithms.
European Conference on Computer Vision (ECCV), Graz, Austria 2006.
IEEE PAMI Vol 30, No 7, 1230-1242, 2008MATLAB
demo and Readme
Images
used in the paper for more details please contact ishimshoni@mis.haifa.ac.il