18 research outputs found
Linear Global Translation Estimation with Feature Tracks
This paper derives a novel linear position constraint for cameras seeing a
common scene point, which leads to a direct linear method for global camera
translation estimation. Unlike previous solutions, this method deals with
collinear camera motion and weak image association at the same time. The final
linear formulation does not involve the coordinates of scene points, which
makes it efficient even for large scale data. We solve the linear equation
based on norm, which makes our system more robust to outliers in
essential matrices and feature correspondences. We experiment this method on
both sequentially captured images and unordered Internet images. The
experiments demonstrate its strength in robustness, accuracy, and efficiency.Comment: Changes: 1. Adopt BMVC2015 style; 2. Combine sections 3 and 5; 3.
Move "Evaluation on synthetic data" out to supplementary file; 4. Divide
subsection "Evaluation on general data" to subsections "Experiment on
sequential data" and "Experiment on unordered Internet data"; 5. Change Fig.
1 and Fig.8; 6. Move Fig. 6 and Fig. 7 to supplementary file; 7 Change some
symbols; 8. Correct some typo
On Computing the Translations Norm in the Epipolar Graph
This paper deals with the problem of recovering the unknown norm of relative
translations between cameras based on the knowledge of relative rotations and
translation directions. We provide theoretical conditions for the solvability
of such a problem, and we propose a two-stage method to solve it. First, a
cycle basis for the epipolar graph is computed, then all the scaling factors
are recovered simultaneously by solving a homogeneous linear system. We
demonstrate the accuracy of our solution by means of synthetic and real
experiments.Comment: Accepted at 3DV 201
ShapeFit and ShapeKick for Robust, Scalable Structure from Motion
We introduce a new method for location recovery from pair-wise directions
that leverages an efficient convex program that comes with exact recovery
guarantees, even in the presence of adversarial outliers. When pairwise
directions represent scaled relative positions between pairs of views
(estimated for instance with epipolar geometry) our method can be used for
location recovery, that is the determination of relative pose up to a single
unknown scale. For this task, our method yields performance comparable to the
state-of-the-art with an order of magnitude speed-up. Our proposed numerical
framework is flexible in that it accommodates other approaches to location
recovery and can be used to speed up other methods. These properties are
demonstrated by extensively testing against state-of-the-art methods for
location recovery on 13 large, irregular collections of images of real scenes
in addition to simulated data with ground truth
Robust Camera Location Estimation by Convex Programming
D structure recovery from a collection of D images requires the
estimation of the camera locations and orientations, i.e. the camera motion.
For large, irregular collections of images, existing methods for the location
estimation part, which can be formulated as the inverse problem of estimating
locations in
from noisy measurements of a subset of the pairwise directions
, are
sensitive to outliers in direction measurements. In this paper, we firstly
provide a complete characterization of well-posed instances of the location
estimation problem, by presenting its relation to the existing theory of
parallel rigidity. For robust estimation of camera locations, we introduce a
two-step approach, comprised of a pairwise direction estimation method robust
to outliers in point correspondences between image pairs, and a convex program
to maintain robustness to outlier directions. In the presence of partially
corrupted measurements, we empirically demonstrate that our convex formulation
can even recover the locations exactly. Lastly, we demonstrate the utility of
our formulations through experiments on Internet photo collections.Comment: 10 pages, 6 figures, 3 table
Hierarchical structure-and-motion recovery from uncalibrated images
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.Comment: Accepted for publication in CVI
Structure-from-Motion Approach for Characterization of Bioerosion Patterns Using UAV Imagery
The aim of this work is to evaluate the applicability of the 3D model obtained through Structure-from-Motion (SFM) from unmanned aerial vehicle (UAV) imagery, in order to characterize bioerosion patterns (i.e., cavities for roosting and nesting) caused by burrowing parrots on a cliff in Bahía Blanca, Argentina. The combined use of SFM-UAV technology was successfully applied for the 3D point cloud model reconstruction. The local point density, obtained by means of a sphere of radius equal to 0.5 m, reached a mean value of 9749, allowing to build a high-resolution model (0.013 m) for resolving fine spatial details in topography. To test the model, we compared it with another point cloud dataset which was created using a low cost do-it-yourself terrestrial laser scanner; the results showed that our georeferenced model had a good accuracy. In addition, an innovative method for the detection of the bioerosion features was implemented, through the processing of data provided by SFM like color and spatial coordinates (particularly the y coordinate). From the 3D model, we also derived topographic calculations such as slope angle and surface roughness, to get associations between the surface topography and bioerosion features.Fil: Genchi, Sibila Andrea. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Bahía Blanca. Instituto Argentino de Oceanografía (i); Argentina. Universidad Nacional del Sur. Departamento de Geografía; ArgentinaFil: Vitale, Alejandro José. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Bahía Blanca. Instituto Argentino de Oceanografía (i); Argentina. Universidad Nacional del Sur. Departamento de Ingenieria Electrica y de Computadoras; ArgentinaFil: Perillo, Gerardo Miguel E.. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Bahía Blanca. Instituto Argentino de Oceanografía (i); Argentina. Universidad Nacional del Sur. Departamento de Geología; ArgentinaFil: Delrieux, Claudio Augusto. Universidad Nacional del Sur. Departamento de Ingenieria Electrica y de Computadoras; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentin
Stable Camera Motion Estimation Using Convex Programming
We study the inverse problem of estimating n locations (up to
global scale, translation and negation) in from noisy measurements of a
subset of the (unsigned) pairwise lines that connect them, that is, from noisy
measurements of for some pairs (i,j) (where the
signs are unknown). This problem is at the core of the structure from motion
(SfM) problem in computer vision, where the 's represent camera locations
in . The noiseless version of the problem, with exact line measurements,
has been considered previously under the general title of parallel rigidity
theory, mainly in order to characterize the conditions for unique realization
of locations. For noisy pairwise line measurements, current methods tend to
produce spurious solutions that are clustered around a few locations. This
sensitivity of the location estimates is a well-known problem in SfM,
especially for large, irregular collections of images.
In this paper we introduce a semidefinite programming (SDP) formulation,
specially tailored to overcome the clustering phenomenon. We further identify
the implications of parallel rigidity theory for the location estimation
problem to be well-posed, and prove exact (in the noiseless case) and stable
location recovery results. We also formulate an alternating direction method to
solve the resulting semidefinite program, and provide a distributed version of
our formulation for large numbers of locations. Specifically for the camera
location estimation problem, we formulate a pairwise line estimation method
based on robust camera orientation and subspace estimation. Lastly, we
demonstrate the utility of our algorithm through experiments on real images.Comment: 40 pages, 12 figures, 6 tables; notation and some unclear parts
updated, some typos correcte