Toroidal Constraints for Two Point Localization Under High Outlier Ratios


Conference Paper


Localizing a query image against a 3D model at large scale is a hard problem, since 2D-3D matches become more and more ambiguous as the model size increases. This creates a need for pose estimation strategies that can handle very low inlier ratios. In this paper, we draw new insights on the geometric information available from the 2D-3D matching process. As modern descriptors are not invariant against large variations in viewpoint, we are able to find the rays in space used to triangulate a given point that are closest to a query descriptor. It is well known that two correspondences constrain the camera to lie on the surface of a torus. Adding the knowledge of direction of triangulation, we are able to approximate the position of the camera from \emphtwo matches alone. We derive a geometric solver that can compute this position in under 1 microsecond. Using this solver, we propose a simple yet powerful outlier filter which scales quadratically in the number of matches. We validate the accuracy of our solver and demonstrate the usefulness of our method in real world settings.

Author(s): Federico Camposeco and Torsten Sattler and Andrea Cohen and Andreas Geiger and Marc Pollefeys
Book Title: IEEE Conf. on Computer Vision and Pattern Recognition (CVPR)
Year: 2017
Month: July

Department(s): Autonomous Vision
Bibtex Type: Conference Paper (inproceedings)
Paper Type: Conference

Event Name: IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 2017
Event Place: Honolulu, HI, USA

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  title = {Toroidal Constraints for Two Point Localization Under High Outlier Ratios},
  author = {Camposeco, Federico and Sattler, Torsten and Cohen, Andrea and Geiger, Andreas and Pollefeys, Marc},
  booktitle = {IEEE Conf. on Computer Vision and Pattern Recognition (CVPR)},
  month = jul,
  year = {2017},
  month_numeric = {7}