Multiple View Geometry in Computer Vision ETH Z在计算机视觉中的多视图几何 ETH Z.pptVIP

* * * * * * * * * * * * * * * * * * * * * * * * Transform image to ~[-1,1]x[-1,1] (0,0) (700,500) (700,0) (0,500) (1,-1) (0,0) (1,1) (-1,1) (-1,-1) normalized least squares yields good results (Hartley, PAMI′97) the normalized 8-point algorithm the singularity constraint SVD from linearly computed F matrix (rank 3) Compute closest rank-2 approximation the minimum case – 7 point correspondences one parameter family of solutions but F1+lF2 not automatically rank 2 F1 F2 F ?3 F7pts (obtain 1 or 3 solutions) (cubic equation) the minimum case – impose rank 2 Compute possible l as eigenvalues of (only real solutions are potential solutions) Step 1. Extract features Step 2. Compute a set of potential matches Step 3. do Step 3.1 select minimal sample (i.e. 7 matches) Step 3.2 compute solution(s) for F Step 3.3 determine inliers until ?(#inliers,#samples)95% #inliers 90% 80% 70% 60% 50% #samples 5 13 35 106 382 Step 4. Compute F based on all inliers Step 5. Look for additional matches Step 6. Refine F based on all correct matches (generate hypothesis) (verify hypothesis) Automatic computation of F RANSAC restrict search range to neighborhood of epipolar line (e.g. ?1.5 pixels) relax disparity restriction (along epipolar line) Finding more matches (Mostly) planar scene (see next slide) Absence of sufficient features (no texture) Repeated structure ambiguity (Schaffalitzky and Zisserman, BMVC‘98) Robust matcher also finds support for wrong hypothesis solution: detect repetition Issues: Computing F for quasi-planar scenes QDEGSAC 17% success for RANSAC 100% for QDEGSAC #inliers data rank 337 matches on plane, 11 off plane %inclusion of out-of-plane inliers Linear equations for 5 points Linear solution space Non-linear constraints 5-point relative motion 10 cubic polynomials scale does not matter, choose (Nister, CVPR03) 5-point relative motion Perform Gauss-Jordan elimination on polynomials -z -z -z represents polynomial of degree n in z (Nister, C