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Non-Sequential Structure from Motion

Enqvist, Olof LU ; Kahl, Fredrik LU and Olsson, Carl LU (2011) 11th Workshop on Omnidirectional Vision, Camera Networks and Non-Classical Cameras (OMNIVIS 2011)
Abstract
Prior work on multi-view structure from motion is dominated by sequential approaches starting from a single two-view reconstruction, then adding new images one by one. In contrast, we propose a non-sequential methodology based on rotational consistency and robust estimation using convex optimization. The resulting system is more robust with respect to (i) unreliable two-view estimations caused by short baselines, (ii) repetitive scenes with locally consistent structures that are not consistent with the global geometry and (iii) loop closing as errors are not propagated in a sequential manner. Both theoretical justifications and experimental comparisons are given to support these claims.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
Structure from motion, computer vision., multiple view geometry, SLAM
pages
8 pages
conference name
11th Workshop on Omnidirectional Vision, Camera Networks and Non-Classical Cameras (OMNIVIS 2011)
external identifiers
  • wos:000300056700038
  • scopus:84856672741
language
English
LU publication?
yes
id
6659a20b-5e58-401d-8112-b95348ca3b90 (old id 2255216)
date added to LUP
2011-12-29 15:00:48
date last changed
2017-07-30 05:06:29
@misc{6659a20b-5e58-401d-8112-b95348ca3b90,
  abstract     = {Prior work on multi-view structure from motion is dominated by sequential approaches starting from a single two-view reconstruction, then adding new images one by one. In contrast, we propose a non-sequential methodology based on rotational consistency and robust estimation using convex optimization. The resulting system is more robust with respect to (i) unreliable two-view estimations caused by short baselines, (ii) repetitive scenes with locally consistent structures that are not consistent with the global geometry and (iii) loop closing as errors are not propagated in a sequential manner. Both theoretical justifications and experimental comparisons are given to support these claims.},
  author       = {Enqvist, Olof and Kahl, Fredrik and Olsson, Carl},
  keyword      = {Structure from motion,computer vision.,multiple view geometry,SLAM},
  language     = {eng},
  pages        = {8},
  title        = {Non-Sequential Structure from Motion},
  year         = {2011},
}