Knowledge Commons of Institute of Automation,CAS
Efficient Large-Scale Structure From Motion by Fusing Auxiliary Imaging Information | |
Cui, Hainan1; Shen, Shuhan1; Gao, Wei1; Hu, Zhanyi2,3 | |
发表期刊 | IEEE TRANSACTIONS ON IMAGE PROCESSING |
2015-11-01 | |
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 |
URL | 查看原文 |
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 | 多模态人工智能系统全国重点实验室_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 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | 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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