A mismatching eliminating method based on camera motion information

Most visual navigation relies on point matching and many of the matching point pairs are faulty. Generally, they are eliminated by the Random Sample Consensus (RANSAC) algorithms. However, RANSAC algorithms are often time-consuming and their parameters are hard to adjust. For such a purpose, a new method is proposed to eliminate the error matching points of every two consecutive images based on motion information. The proposed method is applicable to the cases that the motion information is available and the interest points are all from a horizontal plane. It does not require iteration and thus time-efficient. To demonstrate the effectiveness, the proposed method is tested on synthetic data of both simulation points and real images. The results show that the proposed method has better performance over RANSAC algorithms.