Abstract

This paper illustrates a novel registration method based on robust estimation of trifocal tensors using point and line correspondences synthetically. The proposed method distinguishes itself in following ways: Firstly, besides feature points, line segments are also used to calculate the needed trifocal tensors. The registration process can still be achieved even under poorly textured scenes. Secondly, to estimate trifocal tensors precisely, we use PROSAC instead of RANSAC algorithm to remove outliers. While improving the accuracy of our system, PROSAC also reduces the computation complexity to a large degree.KeywordsAugmented RealityRegistrationTrifocal TensorsFundamental MatrixPROSAC

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