| Pairwise
alignment |
|
|
|
|
|
|
|
|
|
|
|
| RANSAC loop: |
||||||||||
| 1. | Select two
feature pairs (at random) |
|||||||||
| pi = N(ui-uc,vi-vc,f
), pi’
= N(ui’-uc,vi’-vc,f
), i=0,1 |
||||||||||
| 2. | Compute
outer product matrix A = Σi
pi pi’T |
|||||||||
| 3. | Compute
R using SVD, A
= U S VT, R = V
UT |
|||||||||
| 4. | Compute
inliers where f |pi’ - R
pi| < ε |
|||||||||
| 5. | Keep largest set
of inliers |
|||||||||
| 6. | Re-compute
least-squares SVD estimate on all |
|||||||||
| of the inliers, i=0..n |
||||||||||
