|Title||Iterative Dense Correspondence Correction Through Bundle Adjustment Feedback-Based Error Detection
(In Proceedings) |
Mauricio Hess-Flores, Mark A. Duchaineau, Michael Goldman, Kenneth I. Joy |
|Keyword(s)||Dense correspondences, pose estimation, scene reconstruction, bundle adjustment, resolution pyramid, error analysis|
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.