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CSE5519CSE5519 Advances in Computer Vision (Topic G: 2024: Correspondence Estimation and Structure from Motion)

CSE5519 Advances in Computer Vision (Topic G: 2024: Correspondence Estimation and Structure from Motion)

Global Structure from Motion Revisited

link to paper 

Novelty in Global Structure from Motion Revisited

  1. Start with Quality matches
    • Use only geometrically verified
  2. Match verification strategy
    • Homography
    • Essential Matrix
    • Fundamental Matrix
  3. Filtering Bad Matches
    • Cheirality test: Remove points behind the camera
    • Epipolar proximity: Remove the matches near the epipole (unstable)
    • Triangulation angle: Remove matches with small viewing angles (pool estimation for depth)
  4. Track Assembly
    • Concatenate remaining matches across all image pairs
    • Form continuous tracks of the same 3D point visible in multiple views
Tip

Compared with the COLMAP, the Global Structure from Motion Revisited is more robust to the noise and the outliers but less robust to repeated patterns. I wonder how this problem is resolved in normal COLMAP pipeline.

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CSE5519 Advances in Computer Vision (Topic A: 2023 - 2024: Semantic Segmentation)CSE5519 Advances in Computer Vision (Topic F: 2024: Representation Learning)