Hierarchical structure-and-motion recovery from uncalibrated images

Abstract

This paper addresses the structure-and-motion problem, that requires to find camera motion and 3D structure from point matches. A new pipeline, dubbed Samantha, is presented, that departs from the prevailing sequential paradigm and embraces instead a hierarchical approach. This method has several advantages, like a provably lower computational complexity, which is necessary to achieve true scalability, and better error containment, leading to more stability and less drift. Moreover, a practical autocalibration procedure allows to process images without ancillary information. Experiments with real data assess the accuracy and the computational efficiency of the method.

Photogrammetric 3d Building Reconstruction From Thermal Images

“…In the following sections, we will review the 3D reconstruction pipeline implemented in 3DF Zephyr, that is composed by three main modules, Samantha (Toldo et al, 2015), Stasia (Toldo et al, 2013) and Sasha. Starting from a set of images, Samantha is able to automatically recover the orientation (position and angular attitude) of the images.…”

“…A 2D histogram is then built that registers in each bin the number of matches between the corresponding images. Instead of directly picking pairs with the highest score in the histogram, that tends to create in the graph cliques of very similar images with weak inter-clique connection, an alternative approach based on taking maximum spanning trees is adopted, which creates a strongly connected epipolar graph (Toldo et al, 2015).…”

An Improved Robot for Bridge Inspection

“…The 3D reconstruction software Zephyr Aerial, produced by the company 3Dflow [8], was used for Structure-from-Motion and Multiview stereo calculations and reconstructions in this work. Since SfM is not the primary focus of the work, for a detailed overview of the methods behind SfM and MVS refer to [9] and [10].…”

Bending the Doming Effect in Structure From Motion Reconstructions Through Bundle Adjustment

“…In order to assess the results of our constrained Bundle Adjustment, we used a Structure from Motion technique belonging to the latter category. Specifically, we employed 3DF Zephyr Aerial which implements the hierarchical approach of SAMANTHAa state-of-the-art Structure from Motion technique described in (Toldo et al, 2015). It is worth noting that, the camera parameters were kept fixed and jointly optimize by Bundle Adjustment for blocks of similar images grouped together by Samantha.…”