Stable Structure from Motion for Unordered Image Collections

Summary, in English

We present a non-incremental approach to structure from motion. Our solution is based on robustly computing global rotations from relative geometries and feeding these into the known-rotation framework to create an initial solution for bundle adjustment. To increase robustness we present a new method for constructing reliable point tracks from pairwise matches. We show that our method can be seen as maximizing the reliability of a point track if the quality of the weakest link in the track is used to evaluate reliability. To estimate the final geometry we alternate between bundle adjustment and a robust version of the known-rotation formulation. The ability to compute both structure and camera translations independent of initialization makes our algorithm insensitive to degenerate epipolar geometries. We demonstrate the performance of our system on a number of image collections.

• Author: Carl Olsson; Olof Enqvist
• Editor: Heyden Anders; Kahl Fredrik
• Department/s: Mathematics (Faculty of Engineering); Mathematical Imaging Group; ELLIIT: the Linköping-Lund initiative on IT and mobile communication
• Publishing year: 2011
• Language: English
• Pages: 524-535
• Publication/Series: Lecture Notes in Computer Science (Image Analysis : 17th Scandinavian Conference, SCIA 2011, Ystad, Sweden, May 2011. Proceedings)
• Volume: 6688
• Links: http://dx.doi.org/10.1007/978-3-642-21227-7_49
• Document type: Conference paper
• Publisher: Springer
• Topic: Computer Vision and Robotics (Autonomous Systems); Mathematics
• Keywords: Structure from motion; computer vision
• Conference name: 17th Scandinavian Conference on Image Analysis (SCIA 2011)
• Conference date: 2011-05-23 - 2011-05-27
• Conference place: Ystad, Sweden
• Status: Published
• Research group: Mathematical Imaging Group
• ISBN/ISSN/Other: ISSN: 0302-9743; ISSN: 1611-3349; ISBN: 978-3-642-21226-0 (print); ISBN: 978-3-642-21227-7 (online)