@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 }, }