License: Creative Commons Attribution 4.0 International license (CC BY 4.0)
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DOI: 10.4230/DagSemProc.08422.3
URN: urn:nbn:de:0030-drops-18671
URL: http://dagstuhl.sunsite.rwth-aachen.de/volltexte/2009/1867/
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Kähler, Olaf ; Denzler, Joachim

3-D Reconstruction in Piecewise Planar Environments

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Abstract

The structure-from-motion problem is central in applications like visual robot navigation and visual 3d modeling. Typical solutions split the problem into feature tracking and geometric reconstruction steps. Instead we present a combined solution, where the tracking step is implicitly supported by a feedback of 3d information, and the geometric reconstruction is statistically optimal in case of Gaussian noise on image intensities. Experiments confirm an increased accuracy and reliability, and despite a significant computational overhead, the combined solution still runs at 5-10 fps.

BibTeX - Entry

@InProceedings{kahler_et_al:DagSemProc.08422.3,
  author =	{K"{a}hler, Olaf and Denzler, Joachim},
  title =	{{3-D Reconstruction in Piecewise Planar Environments}},
  booktitle =	{Computer Vision in Camera Networks for Analyzing Complex Dynamic Natural  Scenes},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2009},
  volume =	{8422},
  editor =	{Joachim Denzler and Michael Koch},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/opus/volltexte/2009/1867},
  URN =		{urn:nbn:de:0030-drops-18671},
  doi =		{10.4230/DagSemProc.08422.3},
  annote =	{Keywords: Structure-from-motion, tracking, 3d reconstruction}
}

Keywords: Structure-from-motion, tracking, 3d reconstruction
Collection: 08422 - Klausurtagung Lehrstuhl Joachim Denzler
Issue Date: 2009
Date of publication: 29.01.2009

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