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 $L_1$ 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

MScMS-II: an innovative IR-based indoor coordinate measuring system for large-scale metrology applications

According to the current great interest concerning large-scale metrology applications in many different fields of manufacturing industry, technologies and techniques for dimensional measurement have recently shown a substantial improvement. Ease-of-use, logistic and economic issues, as well as metrological performance are assuming a more and more important role among system requirements. This paper describes the architecture and the working principles of a novel infrared (IR) optical-based system, designed to perform low-cost and easy indoor coordinate measurements of large-size objects. The system consists of a distributed network-based layout, whose modularity allows fitting differently sized and shaped working volumes by adequately increasing the number of sensing units. Differently from existing spatially distributed metrological instruments, the remote sensor devices are intended to provide embedded data elaboration capabilities, in order to share the overall computational load. The overall system functionalities, including distributed layout configuration, network self-calibration, 3D point localization, and measurement data elaboration, are discussed. A preliminary metrological characterization of system performance, based on experimental testing, is also presente

Relative Affine Structure: Canonical Model for 3D from 2D Geometry and Applications

We propose an affine framework for perspective views, captured by a single extremely simple equation based on a viewer-centered invariant we call "relative affine structure". Via a number of corollaries of our main results we show that our framework unifies previous work --- including Euclidean, projective and affine --- in a natural and simple way, and introduces new, extremely simple, algorithms for the tasks of reconstruction from multiple views, recognition by alignment, and certain image coding applications

A new protocol for texture mapping process and 2d representation of rupestrian architecture

The development of the survey techniques for architecture and archaeology requires a general review in the methods used for the representation of numerical data. The possibilities offered by data processing allow to find new paths for studying issues connected to the drawing discipline. The research project aimed at experimenting different approaches for the representation of the rupestrian architecture and the texture mapping process. The nature of the rupestrian architecture does not allow a traditional representation of sections and projections of edges and outlines. The paper presents a method, the Equidistant Multiple Sections (EMS), inspired by cartography and based on the use of isohipses generated from different geometric plane. A specific paragraph is dedicated to the texture mapping process for unstructured surface models. One of the main difficulty in the image projection consists in the recognition of homologous points between image and point cloud, above all in the areas with most deformations. With the aid of the “virtual scan” tool a different procedure was developed for improving the correspondences of the image. The result show a sensible improvement of the entire process above all for the architectural vaults. A detailed study concerned the unfolding of the straight line surfaces; the barrel vault of the analyzed chapel has been unfolded for observing the paintings in the real shapes out of the morphological context

Geometric and Algebraic Aspects of 3D Affine and Projective Structures from Perspective 2D Views

We investigate the differences --- conceptually and algorithmically --- between affine and projective frameworks for the tasks of visual recognition and reconstruction from perspective views. It is shown that an affine invariant exists between any view and a fixed view chosen as a reference view. This implies that for tasks for which a reference view can be chosen, such as in alignment schemes for visual recognition, projective invariants are not really necessary. We then use the affine invariant to derive new algebraic connections between perspective views. It is shown that three perspective views of an object are connected by certain algebraic functions of image coordinates alone (no structure or camera geometry needs to be involved)

Calibration by correlation using metric embedding from non-metric similarities

This paper presents a new intrinsic calibration method that allows us to calibrate a generic single-view point camera just by waving it around. From the video sequence obtained while the camera undergoes random motion, we compute the pairwise time correlation of the luminance signal for a subset of the pixels. We show that, if the camera undergoes a random uniform motion, then the pairwise correlation of any pixels pair is a function of the distance between the pixel directions on the visual sphere. This leads to formalizing calibration as a problem of metric embedding from non-metric measurements: we want to find the disposition of pixels on the visual sphere from similarities that are an unknown function of the distances. This problem is a generalization of multidimensional scaling (MDS) that has so far resisted a comprehensive observability analysis (can we reconstruct a metrically accurate embedding?) and a solid generic solution (how to do so?). We show that the observability depends both on the local geometric properties (curvature) as well as on the global topological properties (connectedness) of the target manifold. We show that, in contrast to the Euclidean case, on the sphere we can recover the scale of the points distribution, therefore obtaining a metrically accurate solution from non-metric measurements. We describe an algorithm that is robust across manifolds and can recover a metrically accurate solution when the metric information is observable. We demonstrate the performance of the algorithm for several cameras (pin-hole, fish-eye, omnidirectional), and we obtain results comparable to calibration using classical methods. Additional synthetic benchmarks show that the algorithm performs as theoretically predicted for all corner cases of the observability analysis

Silhouette-Based 3D Face Shape Recovery

The creation of realistic 3D face models is still a fundamental problem in computer graphics. In this paper we present a novel method to obtain the 3D shape of an arbitrary human face using a sequence of silhouette images as input. Our face model is a linear combination of eigenheads, which are obtained by a Principal Component Analysis (PCA) of laser-scanned 3D human faces. The coefficients of this linear decomposition are used as our model parameters. We introduce a near-automatic method for reconstructing a 3D face model whose silhouette images match closest to the set of input silhouettes.Engineering and Applied Science

The Mobile Spatial coordinate Measuring System II (MScMS-II):system description and preliminary assessmentof the measurement uncertainty

According to the increasing interest in metrological systems for the dimensional measurements of large-size objects in a wide range of industrial sectors, several solutions based on different technologies, working principles, architectures, and functionalities have recently been developed. Among all, the most flexible and easily transportable solutions are those that have aroused most interest and have found greater success. In order to address the needs of Large-Scale Metrology (LSM) applications, a distributed flexible system based on a network of low-cost InfraRed (IR) sensors – the Mobile Spatial coordinate Measuring System II (MScMS-II) – has been developed at the Industrial Quality and Metrology Laboratory of Politecnico di Torino. This paper presents a preliminary uncertainty assessment of the system referring to the measured point coordinates in the 3D space, focusing on the sources of measurement uncertainty and the related propagation laws. A preliminary metrological characterization of MScMS-II architecture, experimentally evaluated through a system prototype, is also presented and discussed

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-opera- tive morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon’s navigation capabilites by observ- ing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted in- struments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D opti- cal imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions