A $p$-adic RanSaC algorithm for stereo vision using Hensel lifting

Details A $p$-adic RanSaC algorithm for stereo vision using Hensel lifting A $p$-adic RanSaC algorithm for stereo vision using Hensel lifting

2009-10-26

arxiv.org/abs/0910.4839v2

p-Adic Numbers, Ultrametric Analysis, and Applications, Vol. 2, No. 1 (2010), 55-67

Computer Science

Computer Vision and Pattern Recognition

15 pages; typos removed, abstract changed, computation error removed

Scientific paper

10.1134/S2070046610010048

A $p$-adic variation of the Ran(dom) Sa(mple) C(onsensus) method for solving the relative pose problem in stereo vision is developped. From two 2-adically encoded images a random sample of five pairs of corresponding points is taken, and the equations for the essential matrix are solved by lifting solutions modulo 2 to the 2-adic integers. A recently devised $p$-adic hierarchical classification algorithm imitating the known LBG quantisation method classifies the solutions for all the samples after having determined the number of clusters using the known intra-inter validity of clusterings. In the successful case, a cluster ranking will determine the cluster containing a 2-adic approximation to the "true" solution of the problem.

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