@InProceedings{Martinec-CVPR2007,
  IS = { zkontrolovano 13 Dec 2007 },
  UPDATE  = { 2007-10-01 },
  author =       { Martinec, Daniel and Pajdla, Tom{\'a}{\v s} },
  title =        { Robust Rotation and Translation Estimation },
  booktitle =    { Proceedings of the Computer Vision and
                   Pattern Recognition conference (CVPR)},
  publisher =    { IEEE Computer Society },
  address      = { Los Alamitos, USA },
  year =         { 2007 },
  month =        { June },
  day =          { 19-21 },
  venue =        { Minneapolis, USA},
  project =      { 1ET101210406, eTRIMS FP6-IST-027113, DIRAC FP6-IST-027787, 
                   MSM6840770038 },
  keywords =     { structure from motion, missing data, wide base-line stereo, 
                   factorization },
  pages =        {8},
  book_pages =   {2816},
  authorship =   { 50-50 },
  annote = { It is known that the problem of multiview reconstruction
    can be solved in two steps: first estimate camera rotations and
    then translations using them.  This paper presents new robust
    techniques for both of these steps. (i) Given pair-wise relative
    rotations, global camera rotations are estimated linearly in least
    squares.  (ii) Camera translations are estimated using a standard
    technique based on Second Order Cone Programming.  Robustness is
    achieved by using only a subset of points according to a new
    criterion that diminishes the risk of chosing a mismatch.  It is
    shown that only four points chosen in a special way are sufficient
    to represent a pairwise reconstruction almost equally as all
    points. This leads to a significant speedup.  In image sets with
    repetitive or similar structures, non-existent epipolar geometries
    may be found. Due to them, some rotations and consequently
    translations may be estimated incorrectly. It is shown that
    iterative removal of pairwise reconstructions with the largest
    residual and reregistration removes most non-existent epipolar
    geometries. The performance of the proposed method is demonstrated
    on difficult wide base-line image sets. },
  organization = { {IEEE} Computer Society },
  isbn         = { 1-4244-1180-7 },
  psurl        = { [Martinec-CVPR2007.pdf], [Martinec-CVPR2007-poster-A4.pdf], [demoCVPR07]},
  prestige     = { important },
  note         = { CD-ROM },
}