Fast RANSAC Hypothesis Generation for Essential Matrix Estimation

  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},
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
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