Line-based Robust SfM with Little Image Overlap

Abstract : Usual Structure-from-Motion (SfM) techniques require at least trifocal overlaps to calibrate cameras and reconstruct a scene. We consider here scenarios of reduced image sets with little overlap, possibly as low as two images at most seeing the same part of the scene. We propose a new method, based on line coplanarity hypotheses, for estimating the relative scale of two independent bifocal calibrations sharing a camera, without the need of any trifocal information or Manhattan-world assumption. We use it to compute SfM in a chain of up-to-scale relative motions. For accuracy, we however also make use of trifocal information for line and/or point features, when present, relaxing usual trifocal constraints. For robustness to wrong assumptions and mismatches, we embed all constraints in a parameter-less RANSAC-like approach. Experiments show that we can calibrate datasets that previously could not, and that this wider applicability does not come at the cost of inaccuracy.
Type de document :
Communication dans un congrès
3DV 2017 International Conference on 3D Vision 2017, Oct 2017, Qingdao, China
Liste complète des métadonnées

Littérature citée [50 références]  Voir  Masquer  Télécharger

https://hal-enpc.archives-ouvertes.fr/hal-01618686
Contributeur : Pascal Monasse <>
Soumis le : mercredi 18 octobre 2017 - 12:11:43
Dernière modification le : jeudi 11 janvier 2018 - 06:20:23

Fichier

robustsfm.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01618686, version 1

Collections

Citation

Yohann Salaün, Renaud Marlet, Pascal Monasse. Line-based Robust SfM with Little Image Overlap. 3DV 2017 International Conference on 3D Vision 2017, Oct 2017, Qingdao, China. 〈hal-01618686〉

Partager

Métriques

Consultations de la notice

44

Téléchargements de fichiers

111