3-D Reconstruction in Piecewise Planar Environments

Authors Olaf Kähler, Joachim Denzler

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Olaf Kähler
Joachim Denzler

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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)


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.
  • Structure-from-motion
  • tracking
  • 3d reconstruction


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