Kalman filtering: theory and practice
Kalman filtering: theory and practice
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Zippered polygon meshes from range images
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
A General Surface Approach to the Integration of a Set of Range Views
IEEE Transactions on Pattern Analysis and Machine Intelligence
A volumetric method for building complex models from range images
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Surface simplification using quadric error metrics
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Sequential Updating of Projective and Affine Structure from Motion
International Journal of Computer Vision
From Multiple Stereo Views to Multiple 3-D Surfaces
International Journal of Computer Vision
Computer Vision and Image Understanding
Extracting buildings from aerial images using hierachical aggregation in 2D and 3D
Computer Vision and Image Understanding
International Journal of Computer Vision - 1998 Marr Prize
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Fast Approximate Energy Minimization via Graph Cuts
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-time 3D model acquisition
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
International Journal of Computer Vision
Recursive Estimation of Motion, Structure, and Focal Length
IEEE Transactions on Pattern Analysis and Machine Intelligence
Geometry and texture recovery of scenes of large scale
Computer Vision and Image Understanding
Calibrated, Registered Images of an Extended Urban Area
International Journal of Computer Vision
Camera Self-Calibration: Theory and Experiments
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Reliable Surface Reconstructiuon from Multiple Range Images
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
Automatic Camera Recovery for Closed or Open Image Sequences
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Multi Viewpoint Stereo from Uncalibrated Video Sequences
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
New Techniques for Automated Architectural Reconstruction from Photographs
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
Robust Calibration and 3D Geometric Modeling From Large Collections of Uncalibrated Images
Mustererkennung 1999, 21. DAGM-Symposium
A Space-Sweep Approach to True Multi-Image Matching
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Electronically directed "focal" stereo
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Consensus Surfaces for Modeling 3D Objects from Multiple Range Images
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Constructing Virtual Worlds Using Dense Stereo
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Preemptive RANSAC for Live Structure and Motion Estimation
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Generalized Parallel-Perspective Stereo Mosaics from Airborne Video
IEEE Transactions on Pattern Analysis and Machine Intelligence
Sampling the Disparity Space Image
IEEE Transactions on Pattern Analysis and Machine Intelligence
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
An Automated Method for Large-Scale, Ground-Based City Model Acquisition
International Journal of Computer Vision
Multi-Camera Reconstruction based on Surface Normal Estimation and Best Viewpoint Selection
3DPVT '04 Proceedings of the 3D Data Processing, Visualization, and Transmission, 2nd International Symposium
Improved Real-Time Stereo on Commodity Graphics Hardware
CVPRW '04 Proceedings of the 2004 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW'04) Volume 3 - Volume 03
Interactive Design of Multi-Perspective Images for Visualizing Urban Landscapes
VIS '04 Proceedings of the conference on Visualization '04
A Comparison and Evaluation of Multi-View Stereo Reconstruction Algorithms
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Putting Objects in Perspective
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Fast Compact City Modeling for Navigation Pre-Visualization
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Towards Urban 3D Reconstruction from Video
3DPVT '06 Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
Line-Based Structure from Motion for Urban Environments
3DPVT '06 Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
Feature tracking and matching in video using programmable graphics hardware
Machine Vision and Applications
Interactive 3D architectural modeling from unordered photo collections
ACM SIGGRAPH Asia 2008 papers
ACM SIGGRAPH Asia 2008 papers
Texture classification for 3D urban map
Journal on Image and Video Processing
Handling occluders in transitions from panoramic images: A perceptual study
ACM Transactions on Applied Perception (TAP)
Symmetric architecture modeling with a single image
ACM SIGGRAPH Asia 2009 papers
Image-based street-side city modeling
ACM SIGGRAPH Asia 2009 papers
An automatic image based modeling system by patch growing
Proceedings of the 2009 Computer Graphics International Conference
Privacy-enabling abstraction and obfuscation techniques for 3D city models
Proceedings of the 2nd SIGSPATIAL ACM GIS 2009 International Workshop on Security and Privacy in GIS and LBS
Using image-based modeling for exporting 3D content from Second Life
Proceedings of the 8th International Conference on Virtual Reality Continuum and its Applications in Industry
Fast and Accurate Structure and Motion Estimation
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Revisiting the PnP Problem with a GPS
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Stereo vision for robotic applications in the presence of non-ideal lighting conditions
Image and Vision Computing
Robotics and Autonomous Systems
SmartBoxes for interactive urban reconstruction
ACM SIGGRAPH 2010 papers
ACM Transactions on Graphics (TOG)
A polygon soup representation for multiview coding
Journal of Visual Communication and Image Representation
Resampling structure from motion
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part II
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part IV
Building Rome on a cloudless day
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part IV
Semantic segmentation of urban scenes using dense depth maps
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part IV
Efficient non-consecutive feature tracking for structure-from-motion
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part V
3D reconstruction using an n-layer heightmap
Proceedings of the 32nd DAGM conference on Pattern recognition
A trip to Rome: physical replicas of historical objects created in a fully automated way from photos
HCITOCH'10 Proceedings of the First international conference on Human-computer interaction, tourism and cultural heritage
Real-time rendering and dynamic updating of 3-d volumetric data
Proceedings of the Fourth Workshop on General Purpose Processing on Graphics Processing Units
Modeling urban scenes in the spatial-temporal space
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part II
Editor's Choice Article: Video-based, real-time multi-view stereo
Image and Vision Computing
3D dense reconstruction from 2D video sequence via 3D geometric segmentation
Journal of Visual Communication and Image Representation
Capturing Village-level Heritages with a Hand-held Camera-Laser Fusion Sensor
International Journal of Computer Vision
Communications of the ACM
SCIA'11 Proceedings of the 17th Scandinavian conference on Image analysis
Interactive 3D modeling of indoor environments with a consumer depth camera
Proceedings of the 13th international conference on Ubiquitous computing
Automated sparse 3D point cloud generation of infrastructure using its distinctive visual features
Advanced Engineering Informatics
Efficient city-sized 3D reconstruction from ultra-high resolution aerial and ground video imagery
ISVC'11 Proceedings of the 7th international conference on Advances in visual computing - Volume Part I
Surface reconstruction of scenes using a catadioptric camera
MIRAGE'11 Proceedings of the 5th international conference on Computer vision/computer graphics collaboration techniques
Large-scale, dense city reconstruction from user-contributed photos
Computer Vision and Image Understanding
Scene reconstruction and visualization from internet photo collections
Scene reconstruction and visualization from internet photo collections
Sorting unorganized photo sets for urban reconstruction
Graphical Models
Path planning and traversable area marking for stereo vision-based 3D map building
International Journal of Computational Vision and Robotics
A local region-based Chan-Vese model for image segmentation
Pattern Recognition
Two stages stereo dense matching algorithm for 3d skin micro-surface reconstruction
MMM'10 Proceedings of the 16th international conference on Advances in Multimedia Modeling
Applications of Geometry Processing: Grammar-based 3D facade segmentation and reconstruction
Computers and Graphics
RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments
International Journal of Robotics Research
Egomotion Estimation Using Assorted Features
International Journal of Computer Vision
Video synchronization based on events alignment
Pattern Recognition Letters
A semi-interactive panorama based 3D reconstruction framework for indoor scenes
Computer Vision and Image Understanding
Creating Large-Scale City Models from 3D-Point Clouds: A Robust Approach with Hybrid Representation
International Journal of Computer Vision
A search-classify approach for cluttered indoor scene understanding
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
International Journal of Robotics Research
Scale robust multi view stereo
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part III
Finding correspondence from multiple images via sparse and low-rank decomposition
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part V
Achievements and challenges in recognizing and reconstructing civil infrastructure
Proceedings of the 15th international conference on Theoretical Foundations of Computer Vision: outdoor and large-scale real-world scene analysis
Towards fast image-based localization on a city-scale
Proceedings of the 15th international conference on Theoretical Foundations of Computer Vision: outdoor and large-scale real-world scene analysis
Dense 3d reconstruction from wide baseline image sets
Proceedings of the 15th international conference on Theoretical Foundations of Computer Vision: outdoor and large-scale real-world scene analysis
Monocular visual odometry and dense 3d reconstruction for on-road vehicles
ECCV'12 Proceedings of the 12th international conference on Computer Vision - Volume 2
Proceedings of the Winter Simulation Conference
3D modelling of static environments using multiple spherical stereo
ECCV'10 Proceedings of the 11th European conference on Trends and Topics in Computer Vision - Volume Part II
Dense scene reconstruction with points of interest
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
Scalable real-time volumetric surface reconstruction
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
Optimized selection of key frames for monocular videogrammetric surveying of civil infrastructure
Advanced Engineering Informatics
Detecting changes in images of street scenes
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
Depth synthesis and local warps for plausible image-based navigation
ACM Transactions on Graphics (TOG)
Live three-dimensional reconstruction system with stereo vision display
Computers and Electrical Engineering
Homography based Monocular Dense Reconstruction for a Mobile Robot
Proceedings of Conference on Advances In Robotics
Real-time 3D reconstruction at scale using voxel hashing
ACM Transactions on Graphics (TOG)
3D Scene Reconstruction from Multiple Spherical Stereo Pairs
International Journal of Computer Vision
Coupled structure-from-motion and 3D symmetry detection for urban facades
ACM Transactions on Graphics (TOG)
Efficient 3D reconstruction for urban scenes
ICIC'13 Proceedings of the 9th international conference on Intelligent Computing Theories
Calibrating a wide-area camera network with non-overlapping views using mobile devices
ACM Transactions on Sensor Networks (TOSN)
Large-scale Structure-from-Motion Reconstruction with small memory consumption
Proceedings of International Conference on Advances in Mobile Computing & Multimedia
A videogrammetric as-built data collection method for digital fabrication of sheet metal roof panels
Advanced Engineering Informatics
Incremental 3D reconstruction using Bayesian learning
Applied Intelligence
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The paper presents a system for automatic, geo-registered, real-time 3D reconstruction from video of urban scenes. The system collects video streams, as well as GPS and inertia measurements in order to place the reconstructed models in geo-registered coordinates. It is designed using current state of the art real-time modules for all processing steps. It employs commodity graphics hardware and standard CPU's to achieve real-time performance. We present the main considerations in designing the system and the steps of the processing pipeline. Our system extends existing algorithms to meet the robustness and variability necessary to operate out of the lab. To account for the large dynamic range of outdoor videos the processing pipeline estimates global camera gain changes in the feature tracking stage and efficiently compensates for these in stereo estimation without impacting the real-time performance. The required accuracy for many applications is achieved with a two-step stereo reconstruction process exploiting the redundancy across frames. We show results on real video sequences comprising hundreds of thousands of frames.