DagSemProc.08422.3.pdf
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3-D Reconstruction in Piecewise Planar Environments
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Dagstuhl Seminar Proceedings, Volume 8422
Series: Dagstuhl Seminar Proceedings (DagSemProc) - License:
Creative Commons Attribution 4.0 International license
- Publication Date: 2009-01-29
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Olaf Kähler and Joachim Denzler. 3-D Reconstruction in Piecewise Planar Environments. In Computer Vision in Camera Networks for Analyzing Complex Dynamic Natural Scenes. Dagstuhl Seminar Proceedings, Volume 8422, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2009)
https://doi.org/10.4230/DagSemProc.08422.3
https://doi.org/10.4230/DagSemProc.08422.3
Abstract
The structure-from-motion problem is central in applications like visual robot navigation and visual 3d modeling. Typical solutions split the problem into feature tracking and geometric reconstruction steps. Instead we present a combined solution, where the tracking step is implicitly supported by a feedback of 3d information, and the geometric reconstruction is statistically optimal in case of Gaussian noise on image intensities. Experiments confirm an increased accuracy and reliability, and despite a significant computational overhead, the combined solution still runs at 5-10 fps.
Keywords
- Structure-from-motion
- tracking
- 3d reconstruction
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