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Structure from Motion : Who’s afraid of a couple typos?

Structure from Motion : Who’s afraid of a couple typos?. Work based on that of Hartley by Josh Wills . Pictures. Algorithm Summary. Compute a set of correspondences Find the inliers via RANSAC Get linear estimates of F, P, P’, and X

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Structure from Motion : Who’s afraid of a couple typos?

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Presentation Transcript

  1. Structure from Motion :Who’s afraid of a couple typos? Work based on that of Hartley by Josh Wills

  2. Pictures

  3. Algorithm Summary • Compute a set of correspondences • Find the inliers via RANSAC • Get linear estimates of F, P, P’, and X • Use Levenberg-Marquardt to get a better estimation of F (and therefore P and P’) • Re-estimate x and x’ using a nonlinear method • Re-estimate X • Solve for true X using ground truth

  4. Initial reprojected points

  5. Initial Structure

  6. Final reprojected points

  7. Corrected Structure

  8. Structure with Cameras

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