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NeoGeographyToolkit / StereoPipeline

The NASA Ames Stereo Pipeline is a suite of automated geodesy & stereogrammetry tools designed for processing planetary imagery captured from orbiting and landed robotic explorers on other planets.
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Robustness in affine epipolar alignment #266

Closed oleg-alexandrov closed 2 years ago

oleg-alexandrov commented 5 years ago

Our affine epipolar (and need to check about the epipolar proper) alignment uses interest points to compute the alignment. It assumes those are clean. When an outlier interest point squeaks in though, it can give bad results. Need to use RANSAC as we do in previous steps, when interest points are found.

oleg-alexandrov commented 2 years ago

This was fixed last year. RANSAC is used now. The values --global-alignment-threshold and --local-alignment-threshold are used for global and local (per tile) affine epipolar alignment. Outliers are further removed, after the interest points are aligned, via --outlier-removal-params using box and whisker (percentile times factor). https://stereopipeline.readthedocs.io/en/latest/stereodefault.html

Even OpenCV was not immune to such issues, btw, but there's a chance the latest version fixes that. https://github.com/opencv/opencv/issues/20109