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Metric 3D-reconstruction from Unordered and Uncalibrated Image Collections

Larsson, Viktor LU (2013) In Master’s Theses in Mathematical Sciences FMA820 20131
Mathematics (Faculty of Engineering)
Abstract
In this thesis the problem of Structure from Motion (SfM) for uncalibrated and unordered image collections is considered. The proposed framework is an adaptation of the framework for calibrated SfM proposed by Olsson-Enqvist (2011) to the uncalibrated case.

Olsson-Enqvist's framework consists of three main steps; pairwise relative rotation estimation, rotation averaging, and geometry estimation with known
rotations. For this to work with uncalibrated images we also perform auto-calibration during the first step.

There is a well-known degeneracy for pairwise auto-calibration which occurs when the two principal axes meet in a point. This is unfortunately common for real images. To mitigate this the rotation estimation is instead... (More)
In this thesis the problem of Structure from Motion (SfM) for uncalibrated and unordered image collections is considered. The proposed framework is an adaptation of the framework for calibrated SfM proposed by Olsson-Enqvist (2011) to the uncalibrated case.

Olsson-Enqvist's framework consists of three main steps; pairwise relative rotation estimation, rotation averaging, and geometry estimation with known
rotations. For this to work with uncalibrated images we also perform auto-calibration during the first step.

There is a well-known degeneracy for pairwise auto-calibration which occurs when the two principal axes meet in a point. This is unfortunately common for real images. To mitigate this the rotation estimation is instead performed by estimating image triplets. For image triplets the degenerate congurations are less likely to occur in practice. This is followed by estimation of the pairs which did not get a successful relative rotation from the previous step.

The framework is successfully applied to an uncalibrated and unordered collection of images of the cathedral in Lund. It is also applied to the well-known Oxford dinosaur sequence which consists of turntable motion. Image pairs from the turntable motion are in a degenerate conguration for auto-calibration since they both view the same point on the rotation axis. (Less)
Please use this url to cite or link to this publication:
author
Larsson, Viktor LU
supervisor
organization
course
FMA820 20131
year
type
H2 - Master's Degree (Two Years)
subject
keywords
3D, SfM, Structure from Motion, 3D-reconstruction, auto-calibration
publication/series
Master’s Theses in Mathematical Sciences
report number
LUTFMA-3252-2013
ISSN
1404-6342
other publication id
2013:E42
language
English
id
3973036
date added to LUP
2013-09-20 12:21:33
date last changed
2015-09-07 20:17:34
@misc{3973036,
  abstract     = {In this thesis the problem of Structure from Motion (SfM) for uncalibrated and unordered image collections is considered. The proposed framework is an adaptation of the framework for calibrated SfM proposed by Olsson-Enqvist (2011) to the uncalibrated case.

Olsson-Enqvist's framework consists of three main steps; pairwise relative rotation estimation, rotation averaging, and geometry estimation with known
rotations. For this to work with uncalibrated images we also perform auto-calibration during the first step.

There is a well-known degeneracy for pairwise auto-calibration which occurs when the two principal axes meet in a point. This is unfortunately common for real images. To mitigate this the rotation estimation is instead performed by estimating image triplets. For image triplets the degenerate congurations are less likely to occur in practice. This is followed by estimation of the pairs which did not get a successful relative rotation from the previous step.

The framework is successfully applied to an uncalibrated and unordered collection of images of the cathedral in Lund. It is also applied to the well-known Oxford dinosaur sequence which consists of turntable motion. Image pairs from the turntable motion are in a degenerate conguration for auto-calibration since they both view the same point on the rotation axis.},
  author       = {Larsson, Viktor},
  issn         = {1404-6342},
  keyword      = {3D,SfM,Structure from Motion,3D-reconstruction,auto-calibration},
  language     = {eng},
  note         = {Student Paper},
  series       = {Master’s Theses in Mathematical Sciences},
  title        = {Metric 3D-reconstruction from Unordered and Uncalibrated Image Collections},
  year         = {2013},
}