Related papers: Self-Calibration Supported Robust Projective Struc…
Both self-supervised depth estimation and Structure-from-Motion (SfM) recover scene depth from RGB videos. Despite sharing a similar objective, the two approaches are disconnected. Prior works of self-supervision backpropagate losses…
We tackle the problem of automatic calibration of radially distorted cameras in challenging conditions. Accurately determining distortion parameters typically requires either 1) solving the full Structure from Motion (SfM) problem involving…
Geometric calibration of cameras and projectors is an essential step that must be performed before any imaging system can be used. There are many well-known geometric calibration methods for calibrating systems comprised of multiple…
Structure from Motion (SfM) and visual localization in indoor texture-less scenes and industrial scenarios present prevalent yet challenging research topics. Existing SfM methods designed for natural scenes typically yield low accuracy or…
We consider the problem of reconstructing a 3-D scene from a moving camera with high frame rate using the affine projection model. This problem is traditionally known as Affine Structure from Motion (Affine SfM), and can be solved using an…
Multi-camera systems are increasingly vital in the environmental perception of autonomous vehicles and robotics. Their physical configuration offers inherent fixed relative pose constraints that benefit Structure-from-Motion (SfM). However,…
View-graph is an essential input to large-scale structure from motion (SfM) pipelines. Accuracy and efficiency of large-scale SfM is crucially dependent on the input view-graph. Inconsistent or inaccurate edges can lead to inferior or wrong…
We propose a new structure-from-motion framework to recover accurate camera poses and point clouds from unordered images. Traditional SfM systems typically rely on the successful detection of repeatable keypoints across multiple views as…
Camera-based perception systems play a central role in modern autonomous vehicles. These camera based perception algorithms require an accurate calibration to map the real world distances to image pixels. In practice, calibration is a…
Existing approaches for Structure from Motion (SfM) produce impressive 3-D reconstruction results especially when using imagery captured with large parallax. However, to create engaging video-content in movies and TV shows, the amount by…
This paper presents a neural incremental Structure-from-Motion (SfM) approach, Level-S$^2$fM, which estimates the camera poses and scene geometry from a set of uncalibrated images by learning coordinate MLPs for the implicit surfaces and…
Response calibration is the process of inferring how much the measured data depend on the signal one is interested in. It is essential for any quantitative signal estimation on the basis of the data. Here, we investigate self-calibration…
The reconstruction of a scene via a stereo-camera system is a two-steps process, where at first images from different cameras are matched to identify the set of point-to-point correspondences that then will actually be reconstructed in the…
Long-term environmental monitoring requires the ability to reconstruct and align 3D models across repeated site visits separated by months or years. However, existing Structure-from-Motion (SfM) pipelines implicitly assume near-simultaneous…
We present a novel target-based lidar-camera extrinsic calibration methodology that can be used for non-overlapping field of view (FOV) sensors. Contrary to previous work, our methodology overcomes the non-overlapping FOV challenge using a…
We completely classify all minimal problems for Structure-from-Motion (SfM) where arrangements of points and lines are fully observed by multiple uncalibrated pinhole cameras. We find 291 minimal problems, 73 of which have unique solutions…
Image retrieval is a critical step for reducing the quadratic cost of image matching in unconstrained Structure-from-Motion (SfM). Unlike generic image retrieval, however, the relevant goal of SfM is to identify geometrically matchable…
The structured light projection technique is a representative active method for 3-D reconstruction, but many researchers face challenges with the intricate projector calibration process. To address this complexity, we employs an additional…
We examine 3D reconstruction of architectural scenes in unordered sets of uncalibrated images. We introduce a linear method to self-calibrate and find the metric reconstruction of a camera pair. We assume unknown and different focal lengths…
Structure from Motion (SfM) is a critical task in computer vision, aiming to recover the 3D scene structure and camera motion from a sequence of 2D images. The recent pose-only imaging geometry decouples 3D coordinates from camera poses and…