Iterative Dense Correspondence Correction Through Bundle Adjustment Feedback-Based Error Detection
A novel method to detect and correct inaccuracies in a set of unconstrained dense correspondences between two images is presented. Starting with a robust, general-purpose dense correspondence algorithm, an initial pose estimate and dense 3D scene reconstruction are obtained and bundle-adjusted. Reprojection errors are then computed for each correspondence pair, which is used as a metric to distinguish high and low-error correspondences. An affine neighborhood-based coarse-to-fine iterative search algorithm is then applied only on the high-error correspondences to correct their positions. Such an error detection and correction mechanism is novel for unconstrained dense correspondences, for example not obtained through epipolar geometry-based guided matching. Results indicate that correspondences in regions with issues such as occlusions, repetitive patterns and moving objects can be identified and corrected, such that a more accurate set of dense correspondences results from the feedback-based process, as proven by more accurate pose and structure estimates.
- Research Organization:
- Lawrence Livermore National Laboratory (LLNL), Livermore, CA
- Sponsoring Organization:
- USDOE
- DOE Contract Number:
- W-7405-ENG-48
- OSTI ID:
- 986066
- Report Number(s):
- LLNL-CONF-420758
- Country of Publication:
- United States
- Language:
- English
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