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Good Edgels to Track: Beating the Aperture Problem with Epipolar Geometry [chapter]

Tommaso Piccini, Mikael Persson, Klas Nordberg, Michael Felsberg, Rudolf Mester
2015 Lecture Notes in Computer Science  
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

Yalin Bastanlar
2014 ELCVIA Electronic Letters on Computer Vision and Image Analysis  
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

J.-P. Tardif, Y. Pavlidis, K. Daniilidis
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
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

Abhijit Kundu, C. V. Jawahar, K Madhava Krishna
2010 2010 IEEE International Conference on Robotics and Biomimetics  
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

Marc Pollefeys, Luc Van Gool, Maarten Vergauwen, Frank Verbiest, Kurt Cornelis, Jan Tops, Reinhard Koch
2004 International Journal of Computer Vision  
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

Siyu Zhu, Tian Fang, Jianxiong Xiao, Long Quan
2014 2014 IEEE Conference on Computer Vision and Pattern Recognition  
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]

Siyu Zhu and Tianwei Shen and Lei Zhou and Runze Zhang and Jinglu Wang and Tian Fang and Long Quan
2017 arXiv   pre-print
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]

Richard Steffen, Jan-Michael Frahm, Wolfgang Förstner
2012 Lecture Notes in Computer Science  
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

Daniel Herrera C, Kihwan Kim, Juho Kannala, Kari Pulli, Janne Heikkila
2014 2014 2nd International Conference on 3D Vision  
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

R. Roncella, C. Re, G. Forlani
2012 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
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

Abhijit Kundu, K. Madhava Krishna, C. V. Jawahar
2010 Proceedings of the Seventh Indian Conference on Computer Vision, Graphics and Image Processing - ICVGIP '10  
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

Fabio Remondino, Sabry F. El-Hakim, Armin Gruen, James S. Walton
2003 Videometrics VII  
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

A. Cefalu, N. Haala, D. Fritsch
2016 ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
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

A. Abbas, S. Ghuffar
2018 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
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

Mariana Batista Campos, Antonio Maria Garcia Tommaselli, Letícia Ferrari Castanheiro, Raquel Alves Oliveira, Eija Honkavaara
2019 Remote Sensing  
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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