Epipolar Geometry Estimation for Urban Scenes with Repetitive Structures

Algorithms for the estimation of epipolar geometry from a pair of images have been very successful in recent years, being able to deal with wide baseline images. The algorithms succeed even when the percentage of correct matches from the initial set of matches is very low. In this paper the problem of scenes with repeated structures is addressed, concentrating on the common case of building facades. In these cases a large number of repeated features is found and can not be matched initially, causing state-of-the-art algorithms to fail. Our algorithm therefore clusters similar features in each of the two images and matches clusters of features. From these cluster pairs, a set of hypothesized homographies of the building facade are generated and ranked mainly according the support of matches of non-repeating features. Then in a separate step the epipole is recovered yielding the fundamental matrix. The algorithm then decides whether the fundamental matrix has been recovered reliably enough and if not returns only the homography. The algorithm has been tested successfully on a large number of pairs of images of buildings from the benchmark ZuBuD database for which several state-of-the-art algorithms nearly always fail.