Moving forward in structure from motion

Conference item

It is well-known that forward motion induces a large number of local minima in the instantaneous least-squares reprojection error. This is caused in part by singularities in the error landscape around the forward direction, and presents a challenge in using existing algorithms for structure-from-motion in autonomous navigation applications. In this paper we prove that imposing a bound on the reconstructed depth of the scene makes the least-squares reprojection error continuous. This has implications for autonomous navigation, as it suggests simple modifications for existing algorithms to minimize the effects of local minima in forward translation.

Authors: Vedaldi, A; Guidi, G; Soatto, S

• Publication status: Published
• Peer review status: Peer reviewed
• Publisher: IEEE
• Publication date: 2007-07-16
• Event title: IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2007)
• Event location: Minneapolis, MN, USA
• Event start date: 2007-06-17
• Event end date: 2007-06-22
• DOI: 10.1109/CVPR.2007.383117
• ISSN: 1063-6919
• ISBN: 1424411793
• Language: English