用仿射对应关系提升立体视觉3D重建精度，实测误差仅几度。
Affine Correspondences in Stereo Vision: Theory, Practice, and Limitations
- 通过图像方向估计局部仿射变换，结合基础矩阵优化
- 真实场景下表面法向重建误差约几度，合成数据验证效果
- 适用于平面朝向特殊或相机姿态异常的复杂立体场景
仿射变换近年被用于立体视觉，可用于估计表面法向、单应性、基础矩阵及本质矩阵，甚至实现完整3D重建。本文首先回顾仿射变换与对极几何的基本理论，随后分析变换精度对3D重建质量的影响。提出两种新方法：从对应图像方向估计局部仿射变换，并利用处理图像对的基础矩阵增强估计。基于表面法向重建精度，分别在合成数据和真实数据上进行定量评估。真实实验中使用一个含三个垂直棋盘平面的特殊物体。结果表明，在真实测试案例中，法向估计误差约为几度。还详细评估了特殊立体视角与平面朝向的情况。
原文摘要 · Abstract (English)
Affine transformations have been recently used for stereo vision. They can be exploited in various computer vision application, e.g., when estimating surface normals, homographies, fundamental and essential matrices. Even full 3D reconstruction can be obtained by using affine correspondences. First, this paper overviews the fundamental statements for affine transformations and epipolar geometry. Then it is investigated how the transformation accuracy influences the quality of the 3D reconstruction. Besides, we propose novel techniques for estimating the local affine transformation from corresponding image directions; moreover, the fundamental matrix, related to the processed image pair, can also be exploited. Both synthetic and real quantitative evaluations are implemented based on the accuracy of the reconstructed surface normals. For the latter one, a special object, containing three perpendicular planes with chessboard patterns, is constructed. The quantitative evaluations are based on the accuracy of the reconstructed surface normals and it is concluded that the estimation accuracy is around a few degrees for realistic test cases. Special stereo poses and plane orientations are also evaluated in detail.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。