On Line-based Homographies in Urban Environments

Abstract

This paper contributes to matching and registration in urban environments. We develop a new method to extract only those line segments that belong to contours of buildings. This method includes vanishing point detection, removal of wild structures, sky and roof detection. A registration of two building facades is achieved by computing a line-based homography between both. The known crucial instability of line homography is overcome with a line-panning and iteration technique. This homography approach is also able to separate single facades in a building.