Prior work on multi-view structure from motion is dominated by sequential approaches starting from a single twoview reconstruction, then adding new images one by one. In contrast, we propose a non-sequential methodology based on rotational consistency and robust estimation using convex optimization. The resulting system is more robust with respect to (i) unreliable two-view estimations caused by short baselines, (ii) repetitive scenes with locally consistent structures that are not consistent with the global geometry and (iii) loop closing as errors are not propagated in a sequential manner. Both theoretical justifications and experimental comparisons are given to support these claims.
To solve the problem, authors in REF proposed a non-sequential SfM. Their method depends on rotational consistency and uses convex optimization.
Non-sequential structure from motion
2011 IEEE International Conference on Computer Vision Workshops (ICCV Workshops)
2011 IEEE International Conference on Computer Vision Workshops (ICCV Workshops)
Computer Science