Skip to main content

LUP Student Papers

LUND UNIVERSITY LIBRARIES

Incremental Structure-from-Motion through Affine Transformations of Monocular Depth Priors

Olsteg, Isac LU (2025) In Master's Theses in Mathematical Sciences FMAM05 20251
Mathematics (Faculty of Engineering)
Abstract
This thesis presents an incremental Structure-from-Motion pipeline through the use of affine transformations of monocular depth priors. The scene points are triangulated by averaging lifted covisible keypoints utilizing the calculated transformations. Each new image is registered to the reconstruction by first estimating the camera pose, then aligning the depth prior to the observed 3D points. We propose a bundle adjustment method based on reprojection errors and depth deviations through uniform sampling across multi-view shared 2D-2D correspondences. The final reconstruction is found through backprojection of the registered images using the transformed depth priors. We achieve improved completeness and F1 score compared to the widely... (More)
This thesis presents an incremental Structure-from-Motion pipeline through the use of affine transformations of monocular depth priors. The scene points are triangulated by averaging lifted covisible keypoints utilizing the calculated transformations. Each new image is registered to the reconstruction by first estimating the camera pose, then aligning the depth prior to the observed 3D points. We propose a bundle adjustment method based on reprojection errors and depth deviations through uniform sampling across multi-view shared 2D-2D correspondences. The final reconstruction is found through backprojection of the registered images using the transformed depth priors. We achieve improved completeness and F1 score compared to the widely adopted COLMAP pipeline, but show that this comes at the cost of accuracy. Furthermore, we observe improved robustness and accuracy in terms of pose estimation for low three-view overlap in images. (Less)
Please use this url to cite or link to this publication:
author
Olsteg, Isac LU
supervisor
organization
course
FMAM05 20251
year
type
H2 - Master's Degree (Two Years)
subject
publication/series
Master's Theses in Mathematical Sciences
report number
2025:E50
ISSN
1404-6342
other publication id
LUTFMA-3592-2025
language
English
id
9194789
date added to LUP
2025-09-15 11:11:45
date last changed
2026-02-12 09:25:27
@misc{9194789,
  abstract     = {{This thesis presents an incremental Structure-from-Motion pipeline through the use of affine transformations of monocular depth priors. The scene points are triangulated by averaging lifted covisible keypoints utilizing the calculated transformations. Each new image is registered to the reconstruction by first estimating the camera pose, then aligning the depth prior to the observed 3D points. We propose a bundle adjustment method based on reprojection errors and depth deviations through uniform sampling across multi-view shared 2D-2D correspondences. The final reconstruction is found through backprojection of the registered images using the transformed depth priors. We achieve improved completeness and F1 score compared to the widely adopted COLMAP pipeline, but show that this comes at the cost of accuracy. Furthermore, we observe improved robustness and accuracy in terms of pose estimation for low three-view overlap in images.}},
  author       = {{Olsteg, Isac}},
  issn         = {{1404-6342}},
  language     = {{eng}},
  note         = {{Student Paper}},
  series       = {{Master's Theses in Mathematical Sciences}},
  title        = {{Incremental Structure-from-Motion through Affine Transformations of Monocular Depth Priors}},
  year         = {{2025}},
}