Learning Two-View Correspondences and Geometry via Local Neighborhood Correlation

Abstract

Seeking quality feature correspondences (also known as matches) is a foundational step in computer vision. In our work, a novel and effective network with a stable local constraint, named the Local Neighborhood Correlation Network (LNCNet), is proposed to capture abundant contextual information of each correspondence in the local region, followed by calculating the essential matrix and camera pose estimation. Firstly, the k-Nearest Neighbor (KNN) algorithm is used to divide the local neighborhood roughly. Then, we calculate the local neighborhood correlation matrix (LNC) between the selected correspondence and other correspondences in the local region, which is used to filter outliers to obtain more accurate local neighborhood information. We cluster the filtered information into feature vectors containing richer neighborhood contextual information so that they can be used to more accurately determine the probability of correspondences as inliers. Extensive experiments have demonstrated that our proposed LNCNet performs better than some state-of-the-art networks to accomplish outlier rejection and camera pose estimation tasks in complex outdoor and indoor scenes.