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Moving forward in structure from motion

Abstract:

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 impli...

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Publisher copy:
10.1109/CVPR.2007.383117
Journal:
Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition More from this journal
Publication date:
2007-01-01
DOI:
ISSN:
1063-6919
Language:
English
Pubs id:
pubs:288543
UUID:
uuid:cad68de2-477b-4e65-a065-dfe4cf3887e3
Local pid:
pubs:288543
Source identifiers:
288543
Deposit date:
2012-12-19

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