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Optimal essential matrix estimation via inlier-set maximization

Yang, Jiaolong; Li, Hongdong; Jia, Yunde


In this paper, we extend the globally optimal "rotation space search" method [11] 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]

CollectionsANU Research Publications
Date published: 2014
Type: Conference paper
Source: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
DOI: 10.1007/978-3-319-10590-1_8


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