Bundle adjustment is one of the cornerstone to recover the scene structure from a sequence of images. The main drawback of this technique, due to nonlinear optimisation, is the need of initial conditions for intrinsic and extrinsic camera parameters and for the 3D structure that we want to reconstruct. In this paper, we demonstrate that we can reduce, comparatively to the standard approach, the...

In this paper we describe a relative approach to simultaneous localization and mapping, based on the insight that a continuous relative representation can make the problem tractable at large scales. First, it is well known that bundle adjustment is the optimal non-linear leastsquares formulation for this problem, in that its maximum-likelihood form matches the definition of the Cramer–Rao lower...

Bundle adjustment is a technique used to compute the maximum likelihood estimate of structure and motion from image feature correspondences. It practice, large non-linear systems have to be solved, most of the time using an iterative optimization process starting from a sub-optimal solution obtained by using linear methods. The behaviour, in terms of convergence, and the computational cost of t...

In this paper, a new pipeline of Structure-from-Motion for ground-view images is proposed that uses feature points on an aerial image as references for removing accumulative errors. The challenge here is to design a method for discriminating correct matches from unreliable matches between ground-view images and an aerial image. If we depend on only local image features, it is not possible in pr...

This paper demonstrates the application of a robust form of pose estimation and scene reconstruction using data from camera images. We demonstrate results that suggest the ability of the algorithm to rival methods of RANSACbased pose estimation polished by bundle adjustment in terms of solution robustness, speed and accuracy, even when given poor initialisations. Our simulated results show the ...

Congress has required CMS to expand the Medicare outpatient prospective payment system (PPS) for dialysis services to include as many drugs and diagnostic procedures provided to end stage renal disease (ESRD) patients as possible. One important implementation question is whether dialysis facility case mix should be reflected in payment. We use fiscal year (FY) 2000 cost report and patient billi...

Reconstructing 3D shapes from a sequence of images has long been a problem of interest in computer vision. Classical Structure from Motion (SfM) methods have attempted to solve this problem through projected point displacement & bundle adjustment. More recently, deep methods have attempted to solve this problem by directly learning a relationship between geometry and appearance. There is, howev...

Three dimensional data is in great demand for the various applications. In order to represent 3D space in details, it is indispensable to acquire 3D shape and texture together efficiently. However, there still lack a reliable, quick, cheap and handy method of acquiring three dimensional data of objects at higher resolution and accuracy in outdoor and moving environments. In this research, we pr...

Single image techniques may be very useful for heritage documentation purposes, not only in the particular instances of damaged or destroyed objects but also as auxiliary means for a basic metric reconstruction. In the general case, single images have unknown interior orientation, thus posing the fundamental question of camera calibration (as in several cases no ground control is available). To...

We compare algorithms for fundamental matrix computation, which we classify into “a posteriori correction”, “internal access”, and “external access”. Doing experimental comparison, we show that the 7-parameter Levenberg-Marquardt (LM) search and the extended FNS (EFNS) exhibit the best performance and that additional bundle adjustment does not increase the accuracy to any noticeable degree.