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Robust wide baseline stereo from maximally stable extremal regions (2002)
| Venue: | In Proc. BMVC |
| Citations: | 1016 - 35 self |
BibTeX
@INPROCEEDINGS{Matas02robustwide,
author = {J. Matas and O. Chum and M. Urban and T. Pajdla},
title = {Robust wide baseline stereo from maximally stable extremal regions},
booktitle = {In Proc. BMVC},
year = {2002},
pages = {384--393}
}
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Abstract
The wide-baseline stereo problem, i.e. the problem of establishing correspon-dences between a pair of images taken from different viewpoints is studied. A new set of image elements that are put into correspondence, the so called extremal regions, is introduced. Extremal regions possess highly de-sirable properties: the set is closed under 1. continuous (and thus projective) transformation of image coordinates and 2. monotonic transformation of im-age intensities. An efficient (near linear complexity) and practically fast de-tection algorithm (near frame rate) is presented for an affinely-invariant stable subset of extremal regions, the maximally stable extremal regions (MSER). A new robust similarity measure for establishing tentative correspon-dences is proposed. The robustness ensures that invariants from multiple measurement regions (regions obtained by invariant constructions from ex-tremal regions), some that are significantly larger (and hence discriminative) than the MSERs, may be used to establish tentative correspondences. The high utility of MSERs, multiple measurement regions and the robust metric is demonstrated in wide-baseline experiments on image pairs from both indoor and outdoor scenes. Significant change of scale (3.5×), illumi-nation conditions, out-of-plane rotation, occlusion, locally anisotropic scale change and 3D translation of the viewpoint are all present in the test prob-lems. Good estimates of epipolar geometry (average distance from corre-sponding points to the epipolar line below 0.09 of the inter-pixel distance) are obtained. 1
Keyphrases
stable extremal region robust wide baseline stereo extremal region multiple measurement region epipolar geometry new set high utility wide-baseline experiment different viewpoint image element illumi-nation condition de-sirable property good estimate ex-tremal region im-age intensity fast de-tection algorithm outdoor scene anisotropic scale change inter-pixel distance linear complexity tentative correspon-dences average distance tentative correspondence corre-sponding point frame rate monotonic transformation affinely-invariant stable subset wide-baseline stereo problem epipolar line image pair invariant construction significant change out-of-plane rotation image coordinate new robust similarity measure test prob-lems
