 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Same basic
approach works for any transformation
|
|
|
|
• |
Translation,
rotation, homographies, etc.
|
|
|
|
• |
Very useful tool
|
|
|
General version
|
|
|
|
• |
Randomly choose
a set of K correspondences
|
|
|
|
– |
Typically K is
the minimum size that lets you fit a model
|
|
|
|
• |
Fit a model
(e.g., homography) to those correspondences
|
|
|
|
• |
Count the number
of inliers that “approximately” fit the model
|
|
|
– |
Need a threshold
on the error
|
|
|
|
• |
Repeat as many
times as you can
|
|
|
|
• |
Choose the model
that has the largest set of inliers
|
|
|
|
• |
Refine the model
by doing a least squares fit using ALL of
|
|
|
the inliers
|
|