@inproceedings{10.1007/978-3-031-72998-0_24,
author = {Barath, Daniel
and Mishkin, Dmytro
and Cavalli, Luca
and Sarlin, Paul-Edouard
and Hruby, Petr
and Pollefeys, Marc},
editor = {Leonardis, Ale{\v{s}}
and Ricci, Elisa
and Roth, Stefan
and Russakovsky, Olga
and Sattler, Torsten
and Varol, G{\"u}l},
title = {StereoGlue: Robust Estimation with Single-Point Solvers},
booktitle = {Computer Vision -- ECCV 2024},
year = {2025},
publisher = {Springer Nature Switzerland},
address = {Cham},
pages = {421--441},
abstract = {We propose StereoGlue, a method designed for joint feature matching and robust estimation that effectively reduces the combinatorial complexity of these tasks using single-point minimal solvers. StereoGlue is applicable to a range of problems, including but not limited to relative pose and homography estimation, determining absolute pose with 2D-3D correspondences, and estimating 3D rigid transformations between point clouds. StereoGlue starts with a set of one-to-many tentative correspondences, iteratively forms tentative matches, and estimates the minimal sample model. This model then facilitates guided matching, leading to consistent one-to-one matches, whose number serves as the model score. StereoGlue is superior to the state-of-the-art robust estimators on real-world datasets on multiple problems, improving upon a number of recent feature detectors and matchers. Additionally, it shows improvements in point cloud matching and absolute camera pose estimation. The code is at: https://github.com/danini/stereoglue.},
isbn = {978-3-031-72998-0}
}