Enhancing accuracy of camera rotation angles detected by inaccurate sensors and expressing them in different systems for wide baseline stereo

Abstract

This article suggests an algorithm based on information deduced from a pair of wide baseline (or sparse view) stereo images to enhance the accuracy of camera rotation angles detected using inaccurate sensors. The so-called JUDOCA operator; a fast junction detector, is used to extract important interest points. Through the output information from that operator, affine transformation is then estimated and employed to guide a variance normalized correlation process in order to get a set of possible matches. The so-called RANSAC scheme is used to estimate the fundamental matrix; hence, the essential matrix can be estimated and SVD decomposed. In addition to a translation vector, this decomposition results in an accurate rotation matrix with accurate rotation angles involved. Mathematical derivation is done to extract and express angles in terms of different rotation systems.