Schloss Dagstuhl - Leibniz-Zentrum für Informatik GmbH Schloss Dagstuhl - Leibniz-Zentrum für Informatik GmbH scholarly article en Kähler, Olaf; Denzler, Joachim License
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URN: urn:nbn:de:0030-drops-18671


3-D Reconstruction in Piecewise Planar Environments



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.

BibTeX - Entry

  author =	{Olaf K{\"a}hler and Joachim Denzler},
  title =	{3-D Reconstruction in Piecewise Planar Environments},
  booktitle =	{Computer Vision in Camera Networks for Analyzing Complex Dynamic Natural  Scenes},
  year =	{2009},
  editor =	{Joachim Denzler and Michael Koch},
  publisher =	{Schloss Dagstuhl - Leibniz-Zentrum fuer Informatik, Germany},
  address =	{Dagstuhl, Germany},
  URL =		{},
  annote =	{Keywords: Structure-from-motion, tracking, 3d reconstruction},

Keywords: Structure-from-motion, tracking, 3d reconstruction
Seminar: 08422 - Klausurtagung Lehrstuhl Joachim Denzler
Issue date: 2009
Date of publication: 29.01.2009

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