Published on Mon Jun 01 2015

Hierarchical structure-and-motion recovery from uncalibrated images

Roberto Toldo, Riccardo Gherardi, Michela Farenzena, Andrea Fusiello

This paper addresses the structure-and-motion problem, that requires to find meticulouslycamera motion and 3D struc- ture from point matches. A new pipeline is presented, that departs from the prevailing sequential paradigm and embraces instead a hierarchical approach.

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Abstract

This paper addresses the structure-and-motion problem, that requires to find camera motion and 3D struc- ture from point matches. A new pipeline, dubbed Samantha, is presented, that departs from the prevailing sequential paradigm and embraces instead a hierarchical approach. This method has several advantages, like a provably lower computational complexity, which is necessary to achieve true scalability, and better error containment, leading to more stability and less drift. Moreover, a practical autocalibration procedure allows to process images without ancillary information. Experiments with real data assess the accuracy and the computational efficiency of the method.

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