ShapeFit and ShapeKick for Robust, Scalable Structure from Motion
published: Oct. 24, 2016, recorded: October 2016, views: 17
Report a problem or upload filesIf you have found a problem with this lecture or would like to send us extra material, articles, exercises, etc., please use our ticket system to describe your request and upload the data.
Enter your e-mail into the 'Cc' field, and we will keep you updated with your request's status.
We introduce a new method for location recovery from pairwise directions that leverages an efficient convex program that comes with exact recovery guarantees, even in the presence of adversarial outliers. When pairwise directions represent scaled relative positions between pairs of views (estimated for instance with epipolar geometry) our method can be used for location recovery, that is the determination of relative pose up to a single unknown scale. For this task, our method yields performance comparable to the state-of-the-art with an order of magnitude speed-up. Our proposed numerical framework is flexible in that it accommodates other approaches to location recovery and can be used to speed up other methods. These properties are demonstrated by extensively testing against state-of-the-art methods for location recovery on 13 large, irregular collections of images of real scenes in addition to simulated data with ground truth.
Link this pageWould you like to put a link to this lecture on your homepage?
Go ahead! Copy the HTML snippet !