Keywords: fundamental matrix estimation, robust estimation, RANSAC, outlier detection, two-view geometry, stereo vision
Received April 11, 2005; revised July 1, 2005; accepted September 29, 2005.
Communicated by Chin-Teng Lin.
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Jing-Fu Huang, Shang-Hong Lai and Chia-Ming Cheng
Department of Computer Science
National Tsing Hua University
Hsinchu, 300 Taiwan
The estimation of fundamental matrix from two-view images has been an important
topic of research in 3D computer vision. In this paper, we present an improved robust
algorithm for fundamental matrix estimation via modification of the RANSAC algorithm.
The proposed algorithm is based on constructing a voting array for all the point correspondence
pairs to record the consistency votes for each point correspondence from a
number of the fundamental matrix estimations determined from randomly selected subsets
of correspondence pairs to facilitate the identification of outliers. The boundary between
the inliers and outliers in the sorted voting array are determined through a hypothesis
testing procedure. With this strategy, we can accurately determine the outliers
from all pairs of point correspondences, thus leading to accurate and robust fundamental
matrix estimation under noisy feature correspondences. Through experimental comparison
with previous methods on simulated and real image data, we show the proposed algorithm
in general outperforms other best-performed methods to date.
Received April 11, 2005; revised July 1, 2005; accepted September 29, 2005.
Communicated by Chin-Teng Lin.