Simultaneously estimating the fundamental matrix and homographies
文献类型：期刊论文
| 作者 | Pei Chen; David Suter |
| 刊名 | IEEE TRANSACTIONS ON ROBOTICS
 |
| 出版日期 | 2009 |
| 卷号 | 25期号:6页码:1425-1431 |
| 英文摘要 | The estimation of the fundamental matrix (FM) and/or one or more homographies between two views is of great interest for a number of computer vision and robotics tasks. We consider the joint estimation of the FM and one or more homographies. Given point matches between two views (and assuming rigid geometry of the camera-scene displacement), it is well known that all of the matched points satisfy the epipolar constraint that is usually characterized by the FM. Subsets of these pointmatches may also obey a constraint characterized by a homography (all matches in the subset coming from three-dimensional (3-D) points lying on a 3-D plane). The estimations of homographies and the FM are well-studied problems, and therefore, the(separate) estimation of the FM, or the homography matrices, can be considered as effectively solved problems with mature algorithms. However, thehomographies and FM are not independent of each other: therefore, separate estimation of each is likely to be suboptimal. In this paper, we propose tosimultaneously estimate the FM and homographies by employing the compatibility constraint between them. This is done by first concentrating on a set of parameters that (jointly) parameterize the entire set of homographies and FM(simultaneously) and that also implicitly enforce the compatibility between the estimates of each set. We then derive a reduced form with the purpose of improving the speed. We propose a solution method in which theSampson error for the FM and homographies is minimized by the Levenberg-Marquardt (LM) algorithm. Experiments show that the gains can be compared with separate estimates (the FM and/or the homographies). |
| 收录类别 | SCI |
| 原文出处 | http://sist.sysu.edu.cn/~chenpei/papers/tro-09.pdf |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/2376]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | IEEE TRANSACTIONS ON ROBOTICS |
| 推荐引用方式 GB/T 7714 | Pei Chen,David Suter. Simultaneously estimating the fundamental matrix and homographies[J]. IEEE TRANSACTIONS ON ROBOTICS,2009,25(6):1425-1431. |
| APA | Pei Chen,&David Suter.(2009).Simultaneously estimating the fundamental matrix and homographies.IEEE TRANSACTIONS ON ROBOTICS,25(6),1425-1431. |
| MLA | Pei Chen,et al."Simultaneously estimating the fundamental matrix and homographies".IEEE TRANSACTIONS ON ROBOTICS 25.6(2009):1425-1431. |
入库方式： OAI收割
来源：深圳先进技术研究院
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。