2020/08/04 by Seong Hun Lee, Javier Civera, Lee, Seong Hun +1
Computer Science · Engineering · #Advanced Image and Video Retrieval Techniques #Advanced Vision and Imaging #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.2008.01258
openalex publication_date 2020/08/04 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We propose a robust and efficient method for multiview triangulation and uncertainty estimation. Our contribution is threefold: First, we propose an outlier rejection scheme using two-view RANSAC with the midpoint method. By prescreening the two-view samples prior to triangulation, we achieve the state-of-the-art efficiency. Second, we compare different local optimization methods for refining the initial solution and the inlier set. With an iterative update of the inlier set, we show that the optimization provides significant improvement in accuracy and robustness. Third, we model the uncertainty of a triangulated point as a function of three factors: the number of cameras, the mean reprojection error and the maximum parallax angle. Learning this model allows us to quickly interpolate the uncertainty at test time. We validate our method through an extensive evaluation.