In this paper we present a method for dense 3D reconstruction from videos where object silhouettes are hard to retrieve. We introduce a close coupling between sparse bundle adjustment and dense multiview reconstruction, which includes surface constraints by the sparse point cloud and an implicit loop closing via the dense surface. The surface is computed in a volumetric framework and guarantees...

We describe an algorithm for the automatic features detection in 2D color images of either frontal or rotated human faces. Such features allow to initialize robustly a bundle-adjustment in order to fit a generic 3D face model to the images. The algorithm first identifies the sub-images containing each feature (eyes, nose and lips), afterwards, it processes them separately to extract fiducial po...

Stereo odometry is the process of estimating the movement of a stereo camera through its environment by matching point features between pairs of consecutive image frames. No prior knowledge of the scene nor the motion is necessary. In this work, we present a stereo odometry approach using a specialized method of Sparse Bundle Adjustment. We show experimental results with simulated and real-worl...

In photogrammetry a camera is considered calibrated if its interior orientation parameters are known. These encompass the principal distance, the principal point position and some Additional Parameters used to model possible systematic errors. The current state of the art for automated camera calibration relies on the use of coded targets to accurately determine the image correspondences. This ...

This paper presents a method for the self-calibration of non-rigid affine structure to a Euclidean co-ordinate frame from only two views by enforcing constraints derived from the known structure of the human body, such as piecewise rigidity and approximate symmetry. We show that the proposed algorithm is considerably more efficient yet equally accurate when compared to previous methods. The res...

Multiview registration is used to estimate Rigid Body Transformations (RBTs) from multiple frames and reconstruct a scene with corresponding scans. Despite the success of pairwise pose synchronization, concept Bundle Adjustment (BA) has been proven better maintain global consistency. So in this work, we make multiview point-cloud more tractable different perspective resolving range-based BA. We...

Based on a strict mathematical model for rotating line cameras developed at the Institute of Photogrammetry and Remote Sensing of the Dresden University of Technology, a self-calibrating bundle adjustment of panoramic image data was implemented. This model has been extended by the option to involve central perspective images of a conventional camera. A panoramic bundle adjustment is a suitable ...

This research study showed the potential of block bundle adjustment with nadir viewing sensor images, such as Landsat 7 ETM . The method is based on the 3D analytical geometric model developed for multisensor images at the Canada Centre for Remote Sensing, Natural Resources Canada. Different block sizes and configurations were tested and compared using an image bundle adjustment. The different ...

We present a comparison of an extended Kalman lter and an adaptation of bundle adjustment from computer vision for mobile robot localization and mapping using a bearing-only sensor. We show results on synthetic and real examples and discuss some advantages and disadvantages of the techniques. The comparison leads to a novel combination of the two techniques which results in computational comple...