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3D Reconstruction by Gluing Pair-Wise Euclidean Reconstructions, or "How to Achieve a Good Reconstruction from Bad Images"

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2 Author(s)
Martinec, D. ; Dept. of Cybern., Czech Tech. Univ. in Prague, Prague ; Pajdla, T.

This paper presents a new technique for estimating a multi- view reconstruction given pair-wise Euclidean reconstructions up to rotations, translations and scales. The partial reconstructions are glued by the following three step procedure: (i) Camera rotations consistent with all reconstructions are estimated linearly, (ii) All the pair-wise reconstructions are modified according to the new rotations and refined by bundle adjustment while keeping the corresponding rotations same. (Hi) The refined rotations are used to estimate both camera translations and 3D points using Second Order Cone Programming by minimizing the Linfin- norm. We introduce a new criterion for evaluating importance of an epipolar geometry in influence on the overall 3D geometry. The estimated importance is used to reweight data in the above algorithm to better handle unequiponderantly captured images. The performance of the proposed method is demonstrated on difficult wide base-line image sets.

Published in:

3D Data Processing, Visualization, and Transmission, Third International Symposium on

Date of Conference:

14-16 June 2006