Homography-based correspondence in weakly calibrated curved surface environment and its error analysis

Homography can be computed from four or more corresponding feature pairs in the polyhedral environment. For a stereo image pair that is weakly calibrated, the homography can be estimated via three corresponding feature pairs in the image pair together with the pair of the epipoles. That makes possible to estimate homography in curved surface environment. Since the estimation procedure does not introduce redundant information, it is error-prone. This paper analyzes the origins that produce the errors, which are classified as scene-related origin and calculation-related origin, and differentiates the errors into two types, which are respectively defined as geometric error and algebraic error. The criterion to separate these two kinds of errors is also given. Algorithm to estimate the homography is then improved in its accuracy based on the error analysis. A matching-point accumulation procedure is proposed based on the prediction of the possible matching position from the estimated homography. Feasibility of the proposed algorithm is also discussed. Extensive simulation and experiments are given to illustrate the performances of the new algorithms.