Fast Robust Large-scale Mapping from Video and Internet Photo ...

Algorithm 2 The ARRSAC algorithm
Partition the data into k equal size random partitions
for all k partitions do
if #hypothesis less than required then
Non-uniform sampling for hypothesis generation
end if
Hypothesis evaluation using Sequential Probability Ratio Test (SPRT) [66]
Perform local optimization to generate additional hypotheses
Use surviving hypotheses to provide an estimate of the inlier ratio
Use inlier ratio estimate to determine number of hypotheses needed
for all hypotheses do
if
SPRT(hypothesis) is valid then
Update inlier ratio estimate based on the current best hypothesis
end if
end for
end for
4.1.3. Camera Pose Estimation through Fusion
In some instances we may have not only images or video data but also
geo-location or orientation information. This additional information can be
derived from global positioning system (GPS) sensors as well as inertial navigation
systems containing accelerometers and gyroscopes. We can combine
data from these other sensors with image correspondences to get a more
accurate pose (rotation and translation) than we might get with vision or
geo-location/orientation alone.
In order to fuse image correspondences with other types of sensor mea-
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