Robust Fitting for Multiple View Geometry
(2012) 12th European Conference on Computer Vision (ECCV 2012) In Lecture Notes in Computer Science (Computer Vision  ECCV 2012, Proceedings of the 12th European Conference on Computer Vision, Florence, Italy, October 713, 2012, Part I ) 7572. p.738751 Abstract
 How hard are geometric vision problems with outliers? We show that for most fitting problems, a solution that minimizes the num ber of outliers can be found with an algorithm that has polynomial time complexity in the number of points (independent of the rate of outliers). Further, and perhaps more interestingly, other cost functions such as the truncated L2 norm can also be handled within the same framework with the same time complexity. We apply our framework to triangulation, relative pose problems and stitching, and give several other examples that fulfill the required condi tions. Based on efficient polynomial equation solvers, it is experimentally demonstrated that these problems can be solved reliably, in particular for... (More)
 How hard are geometric vision problems with outliers? We show that for most fitting problems, a solution that minimizes the num ber of outliers can be found with an algorithm that has polynomial time complexity in the number of points (independent of the rate of outliers). Further, and perhaps more interestingly, other cost functions such as the truncated L2 norm can also be handled within the same framework with the same time complexity. We apply our framework to triangulation, relative pose problems and stitching, and give several other examples that fulfill the required condi tions. Based on efficient polynomial equation solvers, it is experimentally demonstrated that these problems can be solved reliably, in particular for lowdimensional models. Comparisons to standard random sampling solvers are also given. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/record/3218091
 author
 Enqvist, Olof ^{LU} ; Ask, Erik ^{LU} ; Kahl, Fredrik ^{LU} and Åström, Karl ^{LU}
 organization
 publishing date
 2012
 type
 Chapter in Book/Report/Conference proceeding
 publication status
 published
 subject
 keywords
 geometry, optimization, computer vision
 in
 Lecture Notes in Computer Science (Computer Vision  ECCV 2012, Proceedings of the 12th European Conference on Computer Vision, Florence, Italy, October 713, 2012, Part I )
 editor
 Fitzgibbon, Andrew; Lazebnik, Svetlana; Perona, Pietro; Sato, Yoichi; Schmid, Cordelia; ; ; ; and
 volume
 7572
 pages
 14 pages
 publisher
 Springer
 conference name
 12th European Conference on Computer Vision (ECCV 2012)
 external identifiers

 scopus:84867878992
 ISSN
 16113349
 03029743
 ISBN
 9783642337178 (print)
 9783642337185 (online)
 DOI
 10.1007/9783642337185_53
 language
 English
 LU publication?
 yes
 id
 981178b127004606af41534ee7ee2fdb (old id 3218091)
 date added to LUP
 20130131 17:41:58
 date last changed
 20171022 03:10:53
@inproceedings{981178b127004606af41534ee7ee2fdb, abstract = {How hard are geometric vision problems with outliers? We show that for most fitting problems, a solution that minimizes the num ber of outliers can be found with an algorithm that has polynomial time complexity in the number of points (independent of the rate of outliers). Further, and perhaps more interestingly, other cost functions such as the truncated L2 norm can also be handled within the same framework with the same time complexity. We apply our framework to triangulation, relative pose problems and stitching, and give several other examples that fulfill the required condi tions. Based on efficient polynomial equation solvers, it is experimentally demonstrated that these problems can be solved reliably, in particular for lowdimensional models. Comparisons to standard random sampling solvers are also given.}, author = {Enqvist, Olof and Ask, Erik and Kahl, Fredrik and Åström, Karl}, booktitle = {Lecture Notes in Computer Science (Computer Vision  ECCV 2012, Proceedings of the 12th European Conference on Computer Vision, Florence, Italy, October 713, 2012, Part I )}, editor = {Fitzgibbon, Andrew and Lazebnik, Svetlana and Perona, Pietro and Sato, Yoichi and Schmid, Cordelia}, isbn = {9783642337178 (print)}, issn = {16113349}, keyword = {geometry,optimization,computer vision}, language = {eng}, pages = {738751}, publisher = {Springer}, title = {Robust Fitting for Multiple View Geometry}, url = {http://dx.doi.org/10.1007/9783642337185_53}, volume = {7572}, year = {2012}, }