Line-based Robust SfM with Little Image Overlap - École des Ponts ParisTech Access content directly
Conference Papers Year : 2017

Line-based Robust SfM with Little Image Overlap


Usual Structure-from-Motion (SfM) techniques require at least trifocal overlaps to calibrate cameras and reconstruct a scene. We consider here scenarios of reduced image sets with little overlap, possibly as low as two images at most seeing the same part of the scene. We propose a new method, based on line coplanarity hypotheses, for estimating the relative scale of two independent bifocal calibrations sharing a camera, without the need of any trifocal information or Manhattan-world assumption. We use it to compute SfM in a chain of up-to-scale relative motions. For accuracy, we however also make use of trifocal information for line and/or point features, when present, relaxing usual trifocal constraints. For robustness to wrong assumptions and mismatches, we embed all constraints in a parameter-less RANSAC-like approach. Experiments show that we can calibrate datasets that previously could not, and that this wider applicability does not come at the cost of inaccuracy.
Fichier principal
Vignette du fichier
robustsfm.pdf (1.79 Mo) Télécharger le fichier
3DV-2017-Salaun-et-al_supp.pdf (3.22 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-01618686 , version 1 (18-10-2017)



Yohann Salaün, Renaud Marlet, Pascal Monasse. Line-based Robust SfM with Little Image Overlap. 3DV 2017 International Conference on 3D Vision 2017, Oct 2017, Qingdao, China. ⟨10.1109/3DV.2017.00031⟩. ⟨hal-01618686⟩
180 View
1308 Download



Gmail Facebook X LinkedIn More