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Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…
The structure from motion (SfM) problem in computer vision is the problem of recovering the three-dimensional ($3$D) structure of a stationary scene from a set of projective measurements, represented as a collection of two-dimensional…
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,…
Image-based 3D reconstruction is one of the most important tasks in Computer Vision with many solutions proposed over the last few decades. The objective is to extract metric information i.e. the geometry of scene objects directly from…
Structure-from-Motion (SfM), a task aiming at jointly recovering camera poses and 3D geometry of a scene given a set of images, remains a hard problem with still many open challenges despite decades of significant progress. The traditional…
We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be…
Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particularly pronounced…
Rolling-shutter (RS) cameras are ubiquitous, but RS SfM (structure-from-motion) has not been fully solved yet. This work suggests an approach to remedy this: We characterize RS single-view geometry of observed world points or lines.…
In this paper, we develop a modified differential Structure from Motion (SfM) algorithm that can estimate relative pose from two consecutive frames despite of Rolling Shutter (RS) artifacts. In particular, we show that under constant…
Structure from Motion (SfM) refers to the problem of recovering both structure (i.e., 3D coordinates of points in the scene) and motion (i.e., camera matrices) starting from point correspondences in multiple images. It has attracted…
Structure-from-motion (SfM) is a long-standing problem in the computer vision community, which aims to reconstruct the camera poses and 3D structure of a scene from a set of unconstrained 2D images. Classical frameworks solve this problem…
Two-view structure-from-motion (SfM) is the cornerstone of 3D reconstruction and visual SLAM. Existing deep learning-based approaches formulate the problem by either recovering absolute pose scales from two consecutive frames or predicting…
The Structure from Motion (SfM) challenge in computer vision is the process of recovering the 3D structure of a scene from a series of projective measurements that are calculated from a collection of 2D images, taken from different…
Recovering structure and motion parameters given a image pair or a sequence of images is a well studied problem in computer vision. This is often achieved by employing Structure from Motion (SfM) or Simultaneous Localization and Mapping…
Structure-from-Motion -- the process of simultaneously estimating camera poses and 3D scene structure from a collection of images -- remains a central challenge in computer vision, with many open problems yet to be solved. Recent advances…
Structure from Motion (SfM) estimates camera poses and reconstructs point clouds, forming a foundation for various tasks. However, applying SfM to driving scenes captured by multi-camera systems presents significant difficulties, including…
Structure-from-Motion (SfM) aims to recover 3D scene structures and camera poses based on the correspondences between input images, and thus the ambiguity caused by duplicate structures (i.e., different structures with strong visual…
Accurate 3D reconstruction from unstructured image collections is a key requirement in applications such as robotics, mapping, and scene understanding. While global Structure from Motion (SfM) techniques rely on full image connectivity and…
In the last twenty years, Structure from Motion (SfM) has been a constant research hotspot in the fields of photogrammetry, computer vision, robotics etc., whereas real-time performance is just a recent topic of growing interest. This work…
The implementation of a Structure-from-Motion (SfM) pipeline from a synthetically generated scene as well as the investigation of the faithfulness of diverse reconstructions is the subject of this project. A series of different SfM…