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arXiv · 1506.00395

Hierarchical structure-and-motion recovery from uncalibrated images

Roberto Toldo·Riccardo Gherardi·Michela Farenzena·Andrea Fusiello
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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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Roberto Toldo, Riccardo Gherardi, Michela Farenzena, Andrea Fusiello. 2015-06-01. Hierarchical structure-and-motion recovery from uncalibrated images. https://doi.org/10.1016/j.cviu.2015.05.011

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