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Structure from Motion Estimation with Positional Cues

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Author

Editor

  • Joni-Kristian Kämäräinen
  • Markus Koskela

Summary, in English

We present a system for structure from motion estimation using additional positioning data such as GPS data. The system incorporates the additional data in the outlier detection, the initial estimates and the final bundle adjustment. The initial solution is based on a novel objective function which is solved using convex optimization. This objective function is also used for outlier detection and removal. The initial solution is then refined based on a novel near $L_2$ minimization of the reprojection error using convex optimization methods. We present results on synthetic and real data, that shows the robustness, accuracy and speed of the proposed method.

Publishing year

2013

Language

English

Pages

522-532

Publication/Series

Lecture Notes in Computer Science (Image Analysis : 18th Scandinavian Conference, SCIA 2013, Espoo, Finland, June 17-20, 2013. Proceedings)

Volume

7944

Document type

Conference paper

Publisher

Springer

Topic

  • Mathematics
  • Computer Vision and Robotics (Autonomous Systems)

Conference name

18th Scandinavian Conference on Image Analysis (SCIA 2013)

Conference date

2013-06-17 - 2013-06-20

Conference place

Espoo, Finland

Status

Published

Research group

  • Mathematical Imaging Group

ISBN/ISSN/Other

  • ISSN: 0302-9743
  • ISSN: 1611-3349
  • ISBN: 978-3-642-38885-9 (print)
  • ISBN: 978-3-642-38886-6 (online)