Robust wide-baseline stereo from maximally stable extremal regions
Robust wide-baseline stereo from maximally stable extremal regions
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DOI：
10.1016/j.imavis.2004.02.006
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发表时间：
2004-09-01
影响因子：
4.7
通讯作者：
Pajdla, T
中科院分区：
文献类型：
--
作者：
Matas, J;Chum, O;Pajdla, T
研究了宽基线立体问题，即在从不同视点拍摄的一对图像之间建立对应关系的问题。引入了一组新的对应的图像元素，即所谓的极值区域。极值区域具有非常理想的属性：该集合在（1）图像坐标的连续（因此投影）变换和（2）图像强度的单调变换下是封闭的。针对极值区域的仿射不变稳定子集，即最大稳定极值区域（MSER），提出了一种高效（近线性复杂度）且实际上快速的检测算法（近帧速率）。提出了一种用于建立尝试性对应关系的新的鲁棒相似性度量。鲁棒性确保来自多个测量区域的不变量（通过极值区域的不变结构获得的区域），其中一些比 MSER 显着更大（因此具有判别性），可用于建立暂时的对应关系。MSER、多个测量区域和鲁棒度量的高实用性在室内和室外场景图像对的宽基线实验中得到了证明。测试问题中均存在显着的比例变化（3.5 X）、照明条件、面外旋转、遮挡、局部各向异性比例变化和视点的 3D 平移。获得对极几何的良好估计（从对应点到极线的平均距离低于像素间距离的 0.09）。 (C) 2004 Elsevier B.V. 保留所有权利。
The wide-baseline stereo problem, i.e. the problem of establishing correspondences 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 desirable properties: the set is closed under (1) continuous (and thus projective) transformation of image coordinates and (2) monotonic transformation of image intensities. An efficient (near linear complexity) and practically fast detection 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 correspondences is proposed. The robustness ensures that invariants from multiple measurement regions (regions obtained by invariant constructions from extremal re ions), 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 X), illumination conditions, out-of-plane rotation, occlusion, locally anisotropic scale change and 3D translation of the viewpoint are all present in the test problems. Good estimates of epipolar geometry (average distance from corresponding points to the epipolar line below 0.09 of the inter-pixel distance) are obtained. (C) 2004 Elsevier B.V. All rights reserved.