Hierarchical structure-and-motion recovery from uncalibrated images

•We describe a hierarchical structure-from-motion pipeline.•No information is needed beside images themselves.•The pipeline proved successful in real-world tasks. This paper addresses the structure-and-motion problem, that requires to find camera motion and 3D structure from point matches. A new pip...

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Bibliographic Details
Published inComputer vision and image understanding Vol. 140; pp. 127 - 143
Main Authors Toldo, Roberto, Gherardi, Riccardo, Farenzena, Michela, Fusiello, Andrea
Format Journal Article
LanguageEnglish
Published Elsevier Inc 01.11.2015
Subjects
Autocalibration
Bundle adjustment
Image orientation
Structure and motion
Bundle adjustment
3D
Autocalibration
Structure and motion
Image orientation
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Summary:•We describe a hierarchical structure-from-motion pipeline.•No information is needed beside images themselves.•The pipeline proved successful in real-world tasks. This paper addresses the structure-and-motion problem, that requires to find camera motion and 3D structure 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.
ISSN:1077-3142
1090-235X
DOI:10.1016/j.cviu.2015.05.011