Energy-based topological outlier filtering

An intuitive approach is proposed for outlier recognition among 2D point correspondences. The main novelty of the proposed method is the exploitation of feature point topology provided by Delaunay triangulation. The solution obtained by minimizing an energy originated from neighboring correspondences in order to remove incorrectly paired points. Assuming local, approximately rigid structures, it is able cope with non-rigid scenes. However, if the epipolar geometry is estimable, the additional information is exploited as well. The proposed method - called Delaunay Filtering - is validated on the publicly available AdelaideRMF dataset and outperforms the state-of-the-art, robust model-regression techniques. It is presented that it can be applied to image pairs for which epipolar geometry-based solutions fail.