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.
Images used in the paper for more details please contact ishimshoni@mis.haifa.ac.il