Two-View Orthographic Epipolar Geometry: Minimal and Optimal Solvers

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Abstract

We will in this paper present methods and algorithms for estimating two-view geometry based on an orthographic camera model. We use a previously neglected nonlinear criterion on rigidity to estimate the calibrated essential matrix. We give efficient algorithms for estimating it minimally (using only three point correspondences), in a least squares sense (using four or more point correspondences), and optimally with respect to the number of inliers. The inlier-optimal algorithm is based on a three-point solver and gives a fourth-order polynomial time algorithm. These methods can be used as building blocks to robustly find inlier correspondences in the presence of high degrees of outliers. We show experimentally that our methods can be used in many instances, where the orthographic camera model isn’t generally used. A case of special interest is situations with repetitive structures, which give high amounts of outliers in the initial feature point matching.

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  • Computational Mathematics
Original languageEnglish
Pages (from-to)163-173
JournalJournal of Mathematical Imaging and Vision
Volume60
Issue number2
Publication statusPublished - 2018 Feb
Publication categoryResearch
Peer-reviewedYes