Investigation of point triangulation methods for optimality and performance in Structure from Motion systems

Vesselin Kirilov Perfanov (Author)

    Research output: Non-textual formSound/Visual production (digital)Research

    Abstract

    Structure from Motion (SFM) systems are composed of cameras and structure in the form of 3D points and other features. It is most often that the structure components outnumber the cameras by a great margin. It is not uncommon to have a configuration with 3 cameras observing more than 500 3D points. Therefore fast 3D point triangulation algorithms are required in the different stages of a SFM system: at the initialization of the reconstruction during the primary estimation of the camera geometry, when new points from new cameras are being added to the system, etc. This presentation will give an overview of existing triangulation methods with emphasis on performance versus optimality, and will suggest a fast triangulation algorithm based on linear constraints. The structure and camera motion estimation in a SFM system is based on the minimization of some norm of the reprojection error between the 3D points and their images in the cameras. Most classical methods are based on minimizing the sum of squared errors, the L2 norm, after initializing the structure by an algebraic method ([2]). It has been shown (in [4] amongst others) that first, the algebraic method can produce initial estimates that are erroneous due to its minimization of a meaningless error measure and second, the L2 norm based function is not convex, and often gets stuck in local minima.
    Original languageEnglish
    Publication date2008
    Publication statusPublished - 2008
    Event16th Danish Conference on Pattern Recognition and Image Analysis - Copenhagen, Denmark
    Duration: 21 Aug 2008 → …
    Conference number: 16

    Conference

    Conference16th Danish Conference on Pattern Recognition and Image Analysis
    Number16
    CountryDenmark
    CityCopenhagen
    Period21/08/2008 → …

    Keywords

    • convex optimization
    • computer vision
    • structure from motion
    • point triangulation

    Cite this

    Perfanov, Vesselin Kirilov (Author). / Investigation of point triangulation methods for optimality and performance in Structure from Motion systems. [Sound/Visual production (digital)].
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    Investigation of point triangulation methods for optimality and performance in Structure from Motion systems. Perfanov, Vesselin Kirilov (Author). 2008. Event: 16th Danish Conference on Pattern Recognition and Image Analysis, Copenhagen, Denmark.

    Research output: Non-textual formSound/Visual production (digital)Research

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