This paper addresses the structure-and-motion problem, that requires to find camera motion and 3D struc- ture 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.
@article{arxiv.1506.00395,
title = {Hierarchical structure-and-motion recovery from uncalibrated images},
author = {Roberto Toldo and Riccardo Gherardi and Michela Farenzena and Andrea Fusiello},
journal= {arXiv preprint arXiv:1506.00395},
year = {2015}
}