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arXiv · 0910.4839

A $p$-adic RanSaC algorithm for stereo vision using Hensel lifting

Patrick Erik Bradley
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Abstract

A $p$-adic variation of the Ran(dom) Sa(mple) C(onsensus) method for solving the relative pose problem in stereo vision is developped. From two 2-adically encoded images a random sample of five pairs of corresponding points is taken, and the equations for the essential matrix are solved by lifting solutions modulo 2 to the 2-adic integers. A recently devised $p$-adic hierarchical classification algorithm imitating the known LBG quantisation method classifies the solutions for all the samples after having determined the number of clusters using the known intra-inter validity of clusterings. In the successful case, a cluster ranking will determine the cluster containing a 2-adic approximation to the "true" solution of the problem.

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Patrick Erik Bradley. 2009-10-26. A $p$-adic RanSaC algorithm for stereo vision using Hensel lifting. https://doi.org/10.1134/s2070046610010048

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