The Problem of Degeneracy in Structure and Motion Recovery from Uncalibrated Image Sequences
International Journal of Computer Vision - 1998 Marr Prize
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-view Matching for Unordered Image Sets, or "How Do I Organize My Holiday Snaps?"
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part I
Reconstruction from Uncalibrated Sequences with a Hierarchy of Trifocal Tensors
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Drift Detection and Removal for Sequential Structure from Motion Algorithms
IEEE Transactions on Pattern Analysis and Machine Intelligence
Unsupervised 3D Object Recognition and Reconstruction in Unordered Datasets
3DIM '05 Proceedings of the Fifth International Conference on 3-D Digital Imaging and Modeling
A Performance Evaluation of Local Descriptors
IEEE Transactions on Pattern Analysis and Machine Intelligence
Scalable Recognition with a Vocabulary Tree
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
Speeded-Up Robust Features (SURF)
Computer Vision and Image Understanding
Modeling the World from Internet Photo Collections
International Journal of Computer Vision
Multiple-View Geometry Under the {$L_\infty$}-Norm
IEEE Transactions on Pattern Analysis and Machine Intelligence
Graph Theory
Computer Vision: Algorithms and Applications
Computer Vision: Algorithms and Applications
Determining an initial image pair for fixing the scale of a 3d reconstruction from an image sequence
DAGM'06 Proceedings of the 28th conference on Pattern Recognition
Robustness in motion averaging
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part II
Rotation averaging with application to camera-rig calibration
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part II
Covariance propagation and next best view planning for 3d reconstruction
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part II
An Adversarial Optimization Approach to Efficient Outlier Removal
Journal of Mathematical Imaging and Vision
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We present a non-incremental approach to structure from motion. Our solution is based on robustly computing global rotations from relative geometries and feeding these into the known-rotation framework to create an initial solution for bundle adjustment. To increase robustness we present a new method for constructing reliable point tracks from pairwise matches. We show that our method can be seen as maximizing the reliability of a point track if the quality of the weakest link in the track is used to evaluate reliability. To estimate the final geometry we alternate between bundle adjustment and a robust version of the known-rotation formulation. The ability to compute both structure and camera translations independent of initialization makes our algorithm insensitive to degenerate epipolar geometries. We demonstrate the performance of our system on a number of image collections.