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Accurate Reconstruction of Oriented 3D Points using Affine Correspondences

Affine correspondences (ACs) have been an active topic of research, namely for the recovery of surface normals. However, current solutions still suffer from the fact that even state-of-the-art affine feature detectors are inaccurate, and ACs are often contaminated by large levels of noise, yielding poor surface normals. This article provides new formulations for achieving epipolar geometry-consistent ACs, that, besides leading to linear solvers that are up to 30$ imes$ faster than the state-of-the-art alternatives, allow for a fast refinement scheme that significantly improves the quality of the noisy ACs. In addition, a tracker that automatically enforces the epipolar geometry is proposed, with experiments showing that it significantly outperforms competing methods in situations of low texture. This opens the way to application domains where the scenes are typically low textured, such as during arthroscopic procedures.

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