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Efficient Large-Scale Structure From Motion by Fusing Auxiliary Imaging Information
Cui, Hainan1; Shen, Shuhan1; Gao, Wei1; Hu, Zhanyi2,3
2015-11-01
发表期刊IEEE TRANSACTIONS ON IMAGE PROCESSING
卷号24期号:11页码:3561 - 3573
文章类型Article
摘要One of the potentially effective means for large-scale 3D scene reconstruction is to reconstruct the scene in a global manner, rather than incrementally, by fully exploiting available auxiliary information on the imaging condition, such as camera location by Global Positioning System (GPS), orientation by inertial measurement unit (or compass), focal length from EXIF, and so on. However, such auxiliary information, though informative and valuable, is usually too noisy to be directly usable. In this paper, we present an approach by taking advantage of such noisy auxiliary information to improve structure from motion solving. More specifically, we introduce two effective iterative global optimization algorithms initiated with such noisy auxiliary information. One is a robust rotation averaging algorithm to deal with contaminated epipolar graph, the other is a robust scene reconstruction algorithm to deal with noisy GPS data for camera centers initialization. We found that by exclusively focusing on the estimated inliers at the current iteration, the optimization process initialized by such noisy auxiliary information could converge well and efficiently. Our proposed method is evaluated on real images captured by unmanned aerial vehicle, StreetView car, and conventional digital cameras. Extensive experimental results show that our method performs similarly or better than many of the state-of-art reconstruction approaches, in terms of reconstruction accuracy and completeness, but is more efficient and scalable for large-scale image data sets.
关键词Structure From Motion Auxiliary Imaging Information Potential Inlier 3d Reconstruction
WOS标题词Science & Technology ; Technology
关键词[WOS]3D RECONSTRUCTION
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收录类别SCI
语种英语
WOS研究方向Computer Science ; Engineering
WOS类目Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic
WOS记录号WOS:000358247700003
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/8883
专题模式识别国家重点实验室_机器人视觉
通讯作者Cui, Hainan
作者单位1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
2.Chinese Acad Sci, Beijing 100190, Peoples R China
3.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
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Cui, Hainan,Shen, Shuhan,Gao, Wei,et al. Efficient Large-Scale Structure From Motion by Fusing Auxiliary Imaging Information[J]. IEEE TRANSACTIONS ON IMAGE PROCESSING,2015,24(11):3561 - 3573.
APA Cui, Hainan,Shen, Shuhan,Gao, Wei,&Hu, Zhanyi.(2015).Efficient Large-Scale Structure From Motion by Fusing Auxiliary Imaging Information.IEEE TRANSACTIONS ON IMAGE PROCESSING,24(11),3561 - 3573.
MLA Cui, Hainan,et al."Efficient Large-Scale Structure From Motion by Fusing Auxiliary Imaging Information".IEEE TRANSACTIONS ON IMAGE PROCESSING 24.11(2015):3561 - 3573.
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