A practical algorithm for L triangulation with outliers

Abstract

This paper addresses the problem of robust optimal multi-view triangulation. We propose an abstract framework, as well as a practical algorithm, which finds the best 3D reconstruction with guaranteed global optimality even in the presence of outliers. Our algorithm is founded on the theory of LP-type problem. We have recognized that the L∞ triangulation is a concrete example of the LP-type problems. We propose a set of non-trivial basis operation subroutines that actually implement the idea. Experiments have validated the effectiveness and efficiency of the proposed algorithm.