Efficient algorithms for robust estimation of relative translation

作者：

Highlights：

• Two new algorithms for relative pose with known rotation

• The algorithms find the optimal solutions in the presence of outliers.

• Outperforms RANSAC on datasets with a high number of outliers

• Competitive runtimes for both real and synthetic data

摘要

•Two new algorithms for relative pose with known rotation•The algorithms find the optimal solutions in the presence of outliers.•Outperforms RANSAC on datasets with a high number of outliers•Competitive runtimes for both real and synthetic data

论文关键词：Structure from motion,Epipolar geometry,Branch and bound,Two-view geometry

论文评审过程：Received 29 September 2015, Revised 19 February 2016, Accepted 2 May 2016, Available online 4 June 2016, Version of Record 14 June 2016.

论文官网地址：https://doi.org/10.1016/j.imavis.2016.05.011