Trifocal Tensor Based Feature Matching Algorithm

Abstract

Feature matching is of significance in the field of computer vision. In this paper, a trifocal tensor based feature matching algorithm is proposed for three views, including a trinocular vision system. Initial matching point-pairs can be determined according to generic matching algorithms, on which an initial trifocal tensor of three views can be confirmed. Then the initial matching point-pairs should be re-selected. Meanwhile, the trifocal tensor will be recomputed. Iteratively, the optimized trifocal tensor can be obtained. Compatible fundamental matrix of every two views can be determined. Furthermore, in the trinocular vision sensor, the trifocal tensor can be calculated based on the intrinsic parameter matrix of each camera. With the strict constraint provided by the trifocal tensor, feature matching results will be optimized. Experiments show that our proposed algorithm has the characteristics of feasibility and precision.

Keywords

optics / trifocal tensor / feature matching