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Compute corners (typically 200-300 per image):
Correspondences are computed automatically and robustly in three
stages:
- Unguided matching: obtain a small number of seed
matches using a local search and normalised cross-correlation with a
conservative threshold.
- Compute epipolar geometry: use seed matches to robustly compute
(using RANSAC).
Matches consistent with
- Guided matching:
Search for matches is then restricted to a
band about epipolar lines using the computed .
Typically: number of corners in a image is about 300
number of seed matches is about 50-100
final number of matches is about 200-250
distance of a point from its epipolar line is 0.2pixels
(using corners computed to sub-pixel accuracy).
Bob Fisher
Wed Apr 16 00:58:54 BST 1997