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Hello,

I am computing the Homography between two images and using that to estimate the change in camera pose.

The putative matches between the images are accurate(using SIFT/SURF/ORB) yet in certain scenarios the re-projection error is very high(I calculate this myself using x' - H*x)

Are there any guidelines to improve the re-projection error(and so the Homography)? Or does anyone know of any literature that could help?

Thanks!

Hello,

I am computing the Homography between two images and using that to estimate the change in camera pose.

Hello,

I am computing the Homography between two images and using that to estimate the change in camera pose.

1. The images are being taken by a camera rotating about the z-axis(or a purely rotating camera)
2. I use a feature detection method e.g. SIFT/SURF/ORB and use the Flann matcher to get the putative matches. On visual inspection inspection the matches look correct.

3. The outlier detection method being used is RANSAC RANSAC with a low reprojection threshold of 1.0

5. When the yaw between images taken is larger than 15 degrees or so, the matches look right on visual inspection but the average reprojection error((I calculate this myself using x' - H*x)) goes high. And unfortunately its not just a few outliers, the reprojection error is high with all the matches.
   matches.
6. The matches are the close to the image boundaries boundaries i.e. in the first image the interest points are close to the right boundary and in the second image its close to the left boundary. Not sure if this changes anything though.

Are there any guidelines to improve the re-projection error(and so the Homography)? Or does anyone know of any literature that could help?

Thanks!