Enhancing accuracy of camera rotation angles detected by inaccurate sensors and expressing them in different systems for wide baseline stereo

This article suggests an algorithm based on information deduced from a pair of wide baseline (or sparse view) stereo images to enhance the accuracy of camera rotation angles detected using inaccurate sensors. The so-called JUDOCA operator; a fast junction detector, is used to extract important interest points. Through the output information from that operator, affine transformation is then estimated and employed to guide a variance normalized correlation process in order to get a set of possible matches. The so-called RANSAC scheme is used to estimate the fundamental matrix; hence, the essential matrix can be estimated and SVD decomposed. In addition to a translation vector, this decomposition results in an accurate rotation matrix with accurate rotation angles involved. Mathematical derivation is done to extract and express angles in terms of different rotation systems.