论文标题
本地特征几何形状的多视图优化
Multi-View Optimization of Local Feature Geometry
论文作者
论文摘要
在这项工作中,我们解决了从没有已知场景或相机几何形状的多个视图中完善本地图像特征的几何形状的问题。当前的局部特征检测方法本质上受到其关键点本地化精度的限制,因为它们仅在单个视图上运行。该限制对下游任务(例如结构轻度)具有负面影响,其中不准确的关键点会导致三角剖分和摄像机定位中的错误。我们提出的方法自然会补充传统的特征提取和匹配范式。我们首先估计暂定匹配之间的局部几何变换,然后根据非线性最小二乘配方,通过多个视图优化关键点位置。在各种实验中,我们都表明我们的方法一致地改善了手工制作和学习的本地特征的三角测量和相机定位性能。
In this work, we address the problem of refining the geometry of local image features from multiple views without known scene or camera geometry. Current approaches to local feature detection are inherently limited in their keypoint localization accuracy because they only operate on a single view. This limitation has a negative impact on downstream tasks such as Structure-from-Motion, where inaccurate keypoints lead to large errors in triangulation and camera localization. Our proposed method naturally complements the traditional feature extraction and matching paradigm. We first estimate local geometric transformations between tentative matches and then optimize the keypoint locations over multiple views jointly according to a non-linear least squares formulation. Throughout a variety of experiments, we show that our method consistently improves the triangulation and camera localization performance for both hand-crafted and learned local features.