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

Abstract : 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.
Type de document :
Communication dans un congrès
ICCV, Dec 2013, Sydney, Australia. 2013
Liste complète des métadonnées

Littérature citée [35 références]  Voir  Masquer  Télécharger
Contributeur : Pierre Moulon <>
Soumis le : mardi 15 octobre 2013 - 17:18:26
Dernière modification le : mercredi 11 avril 2018 - 12:12:03
Document(s) archivé(s) le : jeudi 16 janvier 2014 - 09:26:13


Fichiers produits par l'(les) auteur(s)


  • HAL Id : hal-00873504, version 1


Pierre Moulon, Pascal Monasse, Renaud Marlet. Global Fusion of Relative Motions for Robust, Accurate and Scalable Structure from Motion. ICCV, Dec 2013, Sydney, Australia. 2013. 〈hal-00873504〉



Consultations de la notice


Téléchargements de fichiers