CASIA OpenIR  > 机器人视觉团队
Efficient and robust large-scale structure-from-motion via track selection and camera prioritization
Cui, Hainan1; Shen, Shuhan1,2; Gao, Wei1,2; Liu, Hongmin4; Wang, Zhiheng3
Source PublicationISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING
ISSN0924-2716
2019-10-01
Volume156Pages:202-214
Corresponding AuthorCui, Hainan(hncui@nlpr.ia.ac.cn) ; Liu, Hongmin(hmliu_82@163.com)
AbstractIncremental Structure-from-Motion (SfM) techniques have exhibited superior practicability in many recent studies; however, efficiency and robustness remain key challenges for these techniques. In this work, we propose a new incremental SfM method that overcomes these problems in a united framework that contains two iteration loops. The inner loop is a track selection loop, where a well-conditioned subset of the feature tracks is iteratively selected to accelerate the time-consuming bundle adjustment. The outer loop is a camera registration loop, where the a priori camera rotations are estimated via rotation averaging on multiple orthogonal maximum spanning trees (OMSTs) of the view-graph and used as weak supervision for the registration. The calibrated camera poses that agree with the a priori camera rotations are preferentially registered, and after all the consistent cameras have been calibrated, the remaining cameras are incrementally registered. The results of extensive experiments demonstrate that our system can reconstruct both general and ambiguous image datasets, and our system outperforms many state-of-the-art SfM systems in terms of efficiency and robustness.
KeywordImage-based modeling Structure-from-motion Track selection Rotation averaging Camera prioritization
DOI10.1016/j.isprsjprs.2019.08.005
Indexed BySCI
Language英语
Funding ProjectNational Key R&D Program of China[2016YFB0502002] ; Natural Science Foundation of China[61703397] ; Natural Science Foundation of China[61632003] ; Henan Science and Technology Innovation Outstanding Youth Program[184100510009] ; Henan University Scientific and Technological Innovation Team Support Program[19IRTSTHN012]
Funding OrganizationNational Key R&D Program of China ; Natural Science Foundation of China ; Henan Science and Technology Innovation Outstanding Youth Program ; Henan University Scientific and Technological Innovation Team Support Program
WOS Research AreaPhysical Geography ; Geology ; Remote Sensing ; Imaging Science & Photographic Technology
WOS SubjectGeography, Physical ; Geosciences, Multidisciplinary ; Remote Sensing ; Imaging Science & Photographic Technology
WOS IDWOS:000487765800015
PublisherELSEVIER
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/26076
Collection机器人视觉团队
Corresponding AuthorCui, Hainan; Liu, Hongmin
Affiliation1.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Henan Polytech Univ, Jiaozuo 454000, Henan, Peoples R China
4.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
First Author AffilicationChinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
Corresponding Author AffilicationChinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Cui, Hainan,Shen, Shuhan,Gao, Wei,et al. Efficient and robust large-scale structure-from-motion via track selection and camera prioritization[J]. ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING,2019,156:202-214.
APA Cui, Hainan,Shen, Shuhan,Gao, Wei,Liu, Hongmin,&Wang, Zhiheng.(2019).Efficient and robust large-scale structure-from-motion via track selection and camera prioritization.ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING,156,202-214.
MLA Cui, Hainan,et al."Efficient and robust large-scale structure-from-motion via track selection and camera prioritization".ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING 156(2019):202-214.
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