Yang, Jiaolong; Li, Hongdong; Jia, Yunde
In this paper, we extend the globally optimal "rotation space search" method  to essential matrix estimation in the presence of feature mismatches or outliers. The problem is formulated as inlier-set cardinality maximization, and solved via branch-and-bound global optimization which searches the entire essential manifold formed by all essential matrices. Our main contributions include an explicit, geometrically meaningful essential manifold parametrization using a 5D direct product space of...[Show more]
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