Git repository ^_^

YAHOO! We have Git repository at code.google. This project consists of three branch: debugger, library, logger and release - master. Each developer from team push his commits to some branch. And when we want tar realese - merge all branches => Master.
Everybody can folow the development of the project.

Link to the our project: CV-T-PRO

Useful link

Here is a useful link to publications of the Visual Geometry Group (the part of Robotics Research Group in the Department of Engineering Science, University of Oxford): VGG publications

Searching of erroneous correspondences of key points

  We implemented two algorithms which searches  erroneous correspondences of key points. 

The 1^st algorithm.

Key points are grouped using the  recursive algorithm breadth-first search. Then for every group calculated average slope angle of the vector points and the average length of a vector. Vectors, whose parameters differ significantly from the average parameters identifies as erroneous.

This algorithm is invariant to rotation and scaling.