Symmetric homography transfer error in local optimization #144
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pablospe
reviewed
Jun 30, 2025
| // Code is Based on original single-side transfer error in Poselib. | ||
| // Use adjugate of H to formulate inv(H) since the transfer error is independent of the scale | ||
| // Consider H(2,2) as a consistent (not necessary to be 1), we only update the first 8 elements of H | ||
| // Author: Yaqing Ding |
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wouldn't it be reasonable to keep the previous reference too?
// Implementations of these can be found at https://github.com/vlarsson/homopt
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It has been added now.
pablospe
approved these changes
Jun 30, 2025
|
Thanks for implementing and testing this. I am not sure why my previous implementations did not work out. Perhaps I had some bug :) |
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Homography-based pose estimation error on MegaDepth and Scannet
2D homography estimation, corner error on Hpatches
Scoring is based on single transfer. Using symmetric error in scoring seems to make the performance worse.