Global Fusion of Relative Motions for Robust, Accurate and Scalable Structure from Motion - École des Ponts ParisTech Accéder directement au contenu
Communication Dans Un Congrès Année : 2013

Global Fusion of Relative Motions for Robust, Accurate and Scalable Structure from Motion

Résumé

Multi-view structure from motion (SfM) estimates the position and orientation of pictures in a common 3D coordinate frame. When views are treated incrementally, this external calibration can be subject to drift, contrary to global methods that distribute residual errors evenly. We propose a new global calibration approach based on the fusion of relative motions between image pairs. We improve an existing method for robustly computing global rotations. We present an efficient a contrario trifocal tensor estimation method, from which stable and precise translation directions can be extracted. We also define an efficient translation registration method that recovers accurate camera positions. These components are combined into an original SfM pipeline. Our experiments show that, on most datasets, it outperforms in accuracy other existing incremental and global pipelines. It also achieves strikingly good running times: it is about 20 times faster than the other global method we could compare to, and as fast as the best incremental method. More importantly, it features better scalability properties.
Fichier principal
Vignette du fichier
Global_Fusion_of_Relative_Motions_for_Robust_Accurate_and_Scalable_Structure_from_Motion_.pdf (1.33 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00873504 , version 1 (15-10-2013)

Identifiants

  • HAL Id : hal-00873504 , version 1

Citer

Pierre Moulon, Pascal Monasse, Renaud Marlet. Global Fusion of Relative Motions for Robust, Accurate and Scalable Structure from Motion. ICCV, Dec 2013, Sydney, Australia. ⟨hal-00873504⟩
3574 Consultations
4307 Téléchargements

Partager

Gmail Facebook X LinkedIn More