ICAR Research Data Repository for Knowledge Management
The Globally-Optimal Pose And Correspondences (GOPAC) Algorithm
CSIRO RDS Repository
View Archive Info| Field | Value | |
| Title |
The Globally-Optimal Pose And Correspondences (GOPAC) Algorithm
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| Creator |
Dylan Campbell
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| Subject |
Computer Vision
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| Description |
A globally-optimal inlier set cardinality maximisation algorithm that jointly estimates optimal camera pose and optimal correspondences. The approach employs branch-and-bound to search the 6D space of camera poses, guaranteeing global optimality without requiring a pose prior. The geometry of SE(3) is used to find novel upper and lower bounds for the number of inliers and local optimisation is integrated to accelerate convergence.
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| Publisher |
CSIRO
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| Contributor |
Lars Petersson
Laurent Kneip Hongdong Li |
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| Date |
2018-06-21
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| Type |
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| Format |
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| Identifier |
csiro:25632
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| Language |
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