2-point RANSAC for scene image matching under large viewpoint changes

Chih Chung Chou; Chieh-Chih Wang

ICRA 2015poster24 citations

2-point RANSAC for scene image matching under large viewpoint changes

Abstract

This work aims to accurately match two scene images under large viewpoint changes, which is the key issue in appearance-based localization tasks. In this paper, two key ideas are proposed to solve the challenging problem. First, to detect extreme small overlapping regions between two images, a new approach is developed to estimate the camera motion using only two pairs of matched features, while the state-of-art needs at least five. Second, proper prior knowledge to the environmental structures is utilized to strengthen the outlier rejection. The proposed 2-point approach is tested on challenging scenes and shows good robustness to the drastic occlusion and scaling caused by viewpoint changes.

BibTeX

@inproceedings{icra2015_2pointransacfors,
  title = {2-point RANSAC for scene image matching under large viewpoint changes},
  author = {Chih Chung Chou and Chieh-Chih Wang},
  booktitle = {ICRA 2015},
  year = {2015}
}