Structure from Motion

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External SfM Systems

MVE supports import of SfM results from external SfM systems: VisualSFM and the Noah Bundler. The import is handled using the makescene application.

The MVE SfM System

Features and Tasks

The MVE SfM system is currently in construction. The code is available from the "sfm" branch. It currently features:

• SIFT and SURF feature detection and descriptor extraction
• Two-view feature matching using accellerated exhausive matching
• Fundamental matrix estimation using (at least) eight 2D-2D point correspondences
• Enforcing fundamental and essential constraints on a matrix
• Camera pose estimation from essential matrix
• Fundamental matrix computation from pose between two views
• Normalization of 2D and 3D points (for robust algebra)
• Triangulation of 2D-2D correspondences given pose using DLT transform
• Pose estimation using RANSAC for 2D-2D and 2D-3D correspondences

Things that are still to do:

• Initial pair selection
• Next view selection
• Bundle adjustment
• Proper data structures to add the next view
• etc.

Relevant Literature

• Multiple View Geometry in Computer Vision, 2nd Edition (Hartley & Zisserman, Book, 2003)
• SIFT: Distinctive Image Features from Scale-Invariant Keypoints (Lowe, IJCV 2004)
• SURF: Speeded Up Robust Features (Bay et al., CVIU 2008)
• Robust Rotation and Translation Estimation in Multiview Reconstruction (Martinec et al., CVPR 2007)
• Bundle Adjustment in the Large (Agarwal et al., ECCV 2010)
• Photo tourism: Exploring photo collections in 3D (Snavely et al., SIGGRAPH 2006)
• Modeling the World from Internet Photo Collections (Snavely et al., IJCV 2007)
• Skeletal graphs for efficient structure from motion (Snavely et al., CVPR 2008)
• Building Rome in a Day (Agarwal et al., ICCV 2009)