Original scientific paper
RANSAC-Based Stereo Image Registration with Geometrically Constrained Hypothesis Generation
Robert Cupec
orcid.org/0000-0003-4451-7952
; University of Osijek, Faculty of electrical engineering, Osijek, Croatia
Emanuel Karlo Nyarko
orcid.org/0000-0001-8041-3646
; University of Osijek, Faculty of electrical engineering, Osijek, Croatia
Andreja Kitanov
; University of Zagreb, Faculty of electrical engineering and computing, Zagreb, Croatia
Ivan Petrović
orcid.org/0000-0001-9961-5627
; University of Zagreb, Faculty of electrical engineering and computing, Zagreb, Croatia
Abstract
An approach for registration of sparse feature sets detected in two stereo image pairs taken from two different views is proposed. Analogously to many existing image registration approaches, our method consists of initial matching of features using local descriptors followed by a RANSAC-based procedure. The proposed approach is especially suitable for cases where there is a high percentage of false initial matches. The strategy proposed in this paper is to modify the hypothesis generation step of the basic RANSAC approach by performing a multiple-step procedure which uses geometric constraints in order to reduce the probability of false correspondences in generated hypotheses. The algorithm needs approximate information about the relative camera pose between the two views. However, the uncertainty of this information is allowed to be rather high. The presented technique is evaluated using both synthetic data and real data obtained by a stereo camera system.
Keywords
Image registration; Stereo vision; Feature tracking; RANSAC
Hrčak ID:
47493
URI
Publication date:
22.12.2009.
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