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A probabilistic graphical model approach to solving the structure and motion problem

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Figure 2.1: The effects of a Difference-of-Gaussian filter. On the left we have the original image and the subsequent images are filtered with a DoG filter with increasing intensity
Figure 2.4: We build a SIFT descriptor by taking histogram responses from 4 × 4 sampled gradient points around a feature
Figure 2.6: An example of RANSAC classifying inliers and outliers in a noisy dataset. Our original model is the line y = 50x
Figure 2.7: Outlier removal with RANSAC on SIFT feature matches between an image pair
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