Fast RANSAC Hypothesis Generation for Essential Matrix Estimation

@article{Botterill2011FastRH,
  title={Fast RANSAC Hypothesis Generation for Essential Matrix Estimation},
  author={Tom Botterill and Steven Mills and Richard D. Green},
  journal={2011 International Conference on Digital Image Computing: Techniques and Applications},
  year={2011},
  pages={561-566}
}
The RANSAC framework is often used to estimate the relative pose of two cameras from outlier-contaminated point correspondences, via the essential matrix, however this is computationally expensive due the cost of computing essential matrices from many sets of five to seven correspondences. The leading contemporary 5-point solver (Nister, 2004) is slow because of the expensive linear algebra decompositions and polynomial solve which are required. To avoid these costs we propose to use Levenberg… CONTINUE READING
Highly Cited
This paper has 19 citations. REVIEW CITATIONS