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Structure from Motion
simonfuhrmann edited this page Apr 30, 2013
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Wiki Home ▸ Structure from Motion
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.
- 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)