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Good Edgels to Track: Beating the Aperture Problem with Epipolar Geometry
[chapter]
2015
Lecture Notes in Computer Science
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An open issue in multiple view geometry and structure from motion, applied to real life scenarios, is the sparsity of the matched keypoints and of the reconstructed point cloud. ...
epipolar geometry to reduce the classical KLT optimization to a 1D search problem. ...
and windowed bundle adjustment, and is represented by the epipolar structure. ...
doi:10.1007/978-3-319-16181-5_50
fatcat:eicadna5nvh57mcqmid5ov6alq
Reduced egomotion estimation drift using omnidirectional views
2014
ELCVIA Electronic Letters on Computer Vision and Image Analysis
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In our work, we adopt the sequential structure-from-motion approach which starts with estimating the motion between first two views and more views are added one by one. ...
This enables us to treat the cameras in the same way at any step of structure-from-motion. ...
and as structure from motion (SfM) in computer vision community. ...
doi:10.5565/rev/elcvia.564
fatcat:lqr2awh7znb7bjrf2tpxnk67lq
Monocular visual odometry in urban environments using an omnidirectional camera
2008
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
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In particular, we do not perform any simultaneous iterative optimization of the camera positions and estimated 3D structure (local bundle adjustment). ...
The key aspects of the system is a fast and simple pose estimation algorithm that uses information not only from the estimated 3D map, but also from the epipolar constraint. ...
We will describe related work as follows: We will start with multiple frame structure from motion approaches from computer vision, characterized mainly by their application in short motion ranges. ...
doi:10.1109/iros.2008.4651205
dblp:conf/iros/TardifPD08
fatcat:uuwaccnndbfwjoxydgptekpf5a
Realtime moving object detection from a freely moving monocular camera
2010
2010 IEEE International Conference on Robotics and Biomimetics
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This robustness is attributed to the use of efficient geometric constraints and a probability framework which propagates the uncertainty in the system. ...
The method is robust and is capable of detecting difficult degenerate motions, where the moving objects is followed by a moving camera in the same direction. ...
in 3 views and their extension to N views have proved to be much more effective in scene understanding as in structure from motion (SfM) and visual SLAM. ...
doi:10.1109/robio.2010.5723575
dblp:conf/robio/KunduJK10
fatcat:aisu6gacrndgrn3enrkx4clx3y
Visual Modeling with a Hand-Held Camera
2004
International Journal of Computer Vision
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Based on tracked or matched features the relations between multiple views are computed. From this both the structure of the scene and the motion of the camera are retrieved. ...
Besides the traditional geometry-and image-based approaches, a combined approach with view-dependent geometry and texture is presented. ...
The GPU-based implementation of our combined image-and geometry-based rendering was done by Alexander Thomas. ...
doi:10.1023/b:visi.0000025798.50602.3a
fatcat:dpazfbpkw5awznrui6i2b7lufi
Local Readjustment for High-Resolution 3D Reconstruction
2014
2014 IEEE Conference on Computer Vision and Pattern Recognition
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The key idea is to partition the globally optimized structure from motion points into well-conditioned segments for re-optimization, reconstruct their geometry individually, and fuse everything back into ...
To this end, we propose a segment-based approach to readjust the camera poses locally and improve the reconstruction for fine geometry details. ...
Introduction Typically multi-view 3D reconstruction pipeline requires Structure from Motion (SfM) to solve for the camera poses using bundle adjustment [23] , in which all the 3D structures and cameras ...
doi:10.1109/cvpr.2014.503
dblp:conf/cvpr/ZhuFXQ14
fatcat:ujc4by63wrfern2w64mc6j7b5e
Parallel Structure from Motion from Local Increment to Global Averaging
[article]
2017
arXiv
pre-print
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Our scalable formulation in terms of camera clusters is highly applicable to the whole SfM pipeline including track generation, local SfM, 3D point triangulation and bundle adjustment. ...
In this paper, we tackle the accurate and consistent Structure from Motion (SfM) problem, in particular camera registration, far exceeding the memory of a single computer in parallel. ...
First, RANSAC [15] based filters and repeated partial bundle adjustment [52] can remove erroneous epipolar geometry and feature correspondences. ...
arXiv:1702.08601v3
fatcat:xf2nvyxtuvbvdbfnboojtqcb6e
Relative Bundle Adjustment Based on Trifocal Constraints
[chapter]
2012
Lecture Notes in Computer Science
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Secondly, instead of using the classical perspective relation between object point, camera and image point, we use epipolar and trifocal constraints to implicitly establish the relations between the cameras ...
In this paper we propose a novel approach to bundle adjustment for large-scale camera configurations. The method does not need to include the 3D points in the optimization as parameters. ...
Bundle adjustment has become the workhorse of structure from motion estimation, triggered by the review by Triggs et al. ...
doi:10.1007/978-3-642-35740-4_22
fatcat:3qiukqqsdza55cj3utzdhxwthq
DT-SLAM: Deferred Triangulation for Robust SLAM
2014
2014 2nd International Conference on 3D Vision
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Our method can also deal with pure rotational motions, and fuse the two types of measurements in a bundle adjustment step. ...
Obtaining a good baseline between different video frames is one of the key elements in vision-based monocular SLAM systems. ...
We then apply this epipolar segment constraint to our matching, pose estimation, and bundle adjustment stages. ...
doi:10.1109/3dv.2014.49
dblp:conf/3dim/CKKPH14
fatcat:s7pgnwxqhzdmnbgcpbls6grto4
COMPARISON OF TWO STRUCTURE AND MOTION STRATEGIES
2012
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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The objective of this paper is to compare two Structure from Motion (SFM) strategies. ...
The second one has only recently been implemented and is still under testing; it is based on the SURF operator and the 5-point relative orientation algorithm. ...
AKNOWLEDGMENTS The authors wish to thank Prof. ...
doi:10.5194/isprsarchives-xxxviii-5-w16-343-2011
fatcat:xyv6xgkid5hd3h4vmxeh4z7ipq
Realtime motion segmentation based multibody visual SLAM
2010
Proceedings of the Seventh Indian Conference on Computer Vision, Graphics and Image Processing - ICVGIP '10
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We adopt a multibody Structure from Motion (SfM) approach, which is the generalization of classical SfM to dynamic scenes with multiple rigidly moving objects. ...
This robustness is attributed to the use of efficient geometric constraints and a probability framework which propagates the uncertainty in the system. ...
The motivation behind vision based SLAM, is to estimate the 3D scene structure and camera motion from an image sequence in realtime so as to help guide robots. ...
doi:10.1145/1924559.1924593
dblp:conf/icvgip/KunduKJ10
fatcat:tzaqb3bm7bf6lcc6i7qx2zqlei
3D Reconstruction of Static Human Body with a Digital Camera
2003
Videometrics VII
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First the images are calibrated and orientated using a bundle adjustment and automatically recover the required tie points and initial approximations of the unknowns. ...
Our approach is based on photogrammetric techniques and uses a sequence of images acquired around a standing person with a digital still video camera or with a camcorder. ...
ACKNOWLEDGMENT I would like to thank Daniela Poli of my Institute for helping me with the forward intersection program. ...
doi:10.1117/12.473090
fatcat:oqljjmn6izdi3ouex6p4toypnu
STRUCTURELESS BUNDLE ADJUSTMENT WITH SELF-CALIBRATION USING ACCUMULATED CONSTRAINTS
2016
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Some recent developments express the bundle problem through epipolar geometry and scale consistency constraints which are free of object space coordinates. ...
Bundle adjustment based on collinearity is the most widely used optimization method within image based scene reconstruction. ...
Its application ranges from classical airborne mapping, over high precision close range photogrammetry and SfM (structure from motion) to SLAM (simultaneous localization and mapping), just to name a few ...
doi:10.5194/isprsannals-iii-3-3-2016
fatcat:jj2elqv46rhhpmxp5vcyjctwfi
ROBUST FEATURE MATCHING IN TERRESTRIAL IMAGE SEQUENCES
2018
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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and ultimately lead to failure of results specially in case of camera pose and scene structure estimation. ...
From the last decade, the feature detection, description and matching techniques are most commonly exploited in various photogrammetric and computer vision applications, which includes: 3D reconstruction ...
Typical feature matching strategies lead to high number of outliers and due to the fact that the ambiguous matches are parallel to the epipolar lines due to inherent scene geometry and camera motion, robust ...
doi:10.5194/isprs-archives-xlii-3-3-2018
fatcat:wqzxfxqgijdaxhtmp2rin3i3fy
A Fisheye Image Matching Method Boosted by Recursive Search Space for Close Range Photogrammetry
2019
Remote Sensing
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This paper proposes an approach to boost FBM techniques on fisheye images with recursive reduction of the search space based on epipolar geometry. ...
Compared with other methods based on SIFT extended to the omnidirectional geometry, our approach achieved compatible results for outdoor applications. ...
Introduction Omnidirectional systems enable a 360 • coverage around the sensor, tracking more features in a single image, which encourages the use of these sensors in structure from motion (SfM) approaches ...
doi:10.3390/rs11121404
fatcat:jhsnjnnqj5e3ndd5oekocwhspa
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