Non-Rigid Guided Matching (b/w KFs) in DefSLAM

Source: lamarca-2020

• Matching between keyframes (used in deformation mapping in DefSLAM)
• Use an estimated warp as a reference
  • To increase number of matches in the covisible keyframes

Process

1. Matches are given by deformation tracking
2. Estimate an initial warp between k and k* (covisible keyframes) how?
3. Using this initial warp, estimate where a point would be seen in k*
4. Define a search region around thesse estimated positions. The search regions may contain several keypoints
5. Select the keypoint with the smallest distance between the ORB descriptors (criterion: Hamming distance, apply threshold) –> these are the new matches
6. Add them to the initial matches and estimate the final warp