The representation, recognition, and locating of 3-d objects
International Journal of Robotics Research
Review and analysis of solutions of the three point perspective pose estimation problem
International Journal of Computer Vision
Fast and Globally Convergent Pose Estimation from Video Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Numerical Recipes in C: The Art of Scientific Computing
Numerical Recipes in C: The Art of Scientific Computing
Omni-Directional Structure from Motion
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Quasi-Dense Approach to Surface Reconstruction from Uncalibrated Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Localization in Urban Environments: Monocular Vision Compared to a Differential GPS Sensor
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Real Time Localization and 3D Reconstruction
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
A Generic Camera Model and Calibration Method for Conventional, Wide-Angle, and Fish-Eye Lenses
IEEE Transactions on Pattern Analysis and Machine Intelligence
A generic structure-from-motion framework
Computer Vision and Image Understanding - Special issue on omnidirectional vision and camera networks
Effective and Generic Structure from Motion using Angular Error
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 01
3D feature extraction from uncalibrated video clips
Proceedings of the 1st international workshop on 3D video processing
Sequential non-rigid structure-from-motion with the 3D-implicit low-rank shape model
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part II
Bundle adjustment in the large
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part II
Exploiting loops in the graph of trifocal tensors for calibrating a network of cameras
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part II
Camera Models and Fundamental Concepts Used in Geometric Computer Vision
Foundations and Trends® in Computer Graphics and Vision
International Journal of Computer Vision
Optimal view path planning for visual SLAM
SCIA'11 Proceedings of the 17th Scandinavian conference on Image analysis
Robust visual odometry using uncertainty models
ACIVS'11 Proceedings of the 13th international conference on Advanced concepts for intelligent vision systems
On Camera Calibration with Linear Programming and Loop Constraint Linearization
International Journal of Computer Vision
Fast 3d structure from motion with missing points from registration of partial reconstructions
AMDO'12 Proceedings of the 7th international conference on Articulated Motion and Deformable Objects
Image and Vision Computing
How to localize humanoids with a single camera?
Autonomous Robots
Large-Scale bundle adjustment by parameter vector partition
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
Recursive non-rigid structure from motion with online learned shape prior
Computer Vision and Image Understanding
Manifold surface reconstruction of an environment from sparse Structure-from-Motion data
Computer Vision and Image Understanding
International Journal of Computer Vision
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This paper describes a method for estimating the motion of a calibrated camera and the three-dimensional geometry of the filmed environment. The only data used is video input. Interest points are tracked and matched between frames at video rate. Robust estimates of the camera motion are computed in real-time, key frames are selected to enable 3D reconstruction of the features. We introduce a local bundle adjustment allowing 3D points and camera poses to be refined simultaneously through the sequence. This significantly reduces computational complexity when compared with global bundle adjustment. This method is applied initially to a perspective camera model, then extended to a generic camera model to describe most existing kinds of cameras. Experiments performed using real-world data provide evaluations of the speed and robustness of the method. Results are compared to the ground truth measured with a differential GPS. The generalized method is also evaluated experimentally, using three types of calibrated cameras: stereo rig, perspective and catadioptric.