This paper addresses the problem of recovering the 3D shape of a surface of revolution from multiple uncalibrated perspective views. In previous work, we have exploited the invariant properties of the surface of revolution and its silhouette to recover the contour generator and hence the meridian of the surface of revolution from a single uncalibrated view. However, there exists one degree of f...

A new 3D acquisition and processing procedure to map RGB, thermal IR and near infrared images (NIR) on a detailed 3D model of a building is presented. The combination and fusion of different data sources allows the generation of 3D thermal data useful for different purposes such as localization, visualization, and analysis of anomalies in contemporary architecture. The classic approach, which i...

In this paper we investigate the influence of linear features (segments) in a bundle adjustment. Bundle adjustment is the problem of refining a set of parameters (internal calibration, external calibration, 3D model). The refinement is performed by the minimization of a cost function. In usual photogrammetric applications, this cost function is based on image tie points and 3D control points. T...

Lens distortion causes difficulties for 3D reconstruction, when uncalibrated image sets with weak geometry are used. We show that the largest part of lens distortion, known as the radial distortion, can be estimated along with the center of distortion from the epipolar constraint separately and before bundle adjustment without any calibration rig. The estimate converges as more image pairs are ...

Recently, self-calibration algorithms that use only the information in the image have been actively researched. But most algorithms require bundle adjustment in the projective reconstruction or in the nonlinear minimization. We propose a practical self-calibration algorithm that only requires a linear projective reconstruction. We overcome the sensitivity of the algorithm due to image noises by...

Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its simplicity of acquisition. Traditional image-based 3D reconstruction approaches heavily exploit point-to-point correspondence among multiple images to estimate came...

This paper describes an iterative algorithm for making Euclidean reconstruction of a scenefi-om an image sequence captured by a camera with zero skew. The output consists of both the Euclidean reconstruction and the intrinsic parameters of the camera at the different imaging instants, i.e. it also provides a camera calibration. The problem is solved in two different steps. Firstly, the projecti...

The options available for orientation of satellite imagery in cases requiring optimal metric precision are generally rational functions, where the RPCs are provided by the image supplier, or a rigorous physical model. In either case, it is ground control that facilitates pixel-level georeferencing via a compensation for systematic errors in the sensor metadata. In many remote parts of the world...

Complex robots with multiple arms and sensors need good calibration to perform precise tasks in unstructured environments. The sensors must be calibrated both to the manipulators and to each other, since fused sensor data is often needed. We propose an extendable framework that combines measurements from the robot’s various sensors (proprioceptive and external) to calibrate the robot’s joint of...

The identification and description of partial symmetries in man-made structures is a powerful tool to improve the quality of 3D reconstruction from unordered images and to enable high-level understanding of scene geometry. In this work we propose an approach to identify symmetries and exploit them in Structure from Motion (SfM). Our first contribution is a symmetry detection approach that uses ...