Feature Matching via Motion-Consistency Driven Probabilistic Graphical Model

摘要

This paper proposes an effective method, termed as motion-consistency driven matching (MCDM), for mismatch removal from given tentative correspondences between two feature sets. In particular, we regard each correspondence as a hypothetical node, and formulate the matching problem into a probabilistic graphical model to infer the state of each node (e.g., true or false correspondence). By investigating the motion consistency of true correspondences, a general prior is incorporated into our formulation to differentiate false correspondences from the true ones. The final inference is casted into an integer quadratic programming problem, and the solution is obtained by using an efficient optimization technique based on the Frank-Wolfe algorithm. Extensive experiments on general feature matching, as well as fundamental matrix estimation, relative pose estimation and loop-closure detection, demonstrate that our MCDM possesses strong generalization ability as well as high accuracy, which outperforms state-of-the-art methods. Meanwhile, due to the low computational complexity, the proposed method is efficient for practical feature matching tasks.