ITERATIVE DENSE CORRESPONDENCE CORRECTION THROUGH BUNDLE ADJUSTMENT FEEDBACK-BASED ERROR DETECTION

A novel method to detect and correct inaccuracies in a set of unconstrained dense correspondences between two images is presented. Starting with a robust, general-purpose dense correspondence algorithm, an initial pose estimate and dense 3D scene reconstruction are obtained and bundle-adjusted. Reprojection errors are then computed for each correspondence pair, which is used as a metric to distinguish high and low-error correspondences. An affine neighborhood-based coarse-to-fine iterative search algorithm is then applied only on the high-error correspondences to correct their positions. Such an error detection and correction mechanism is novel for unconstrained dense correspondences, for example not obtained through epipolar geometry-based guided matching. Results indicate that correspondences in regions With issues such as occlusions, repetitive patterns and moving objects can be identified and corrected, such that a more accurate set of dense correspondences results from the feedback-based process, as proven by more accurate pose and structure estimates.