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
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Visual Modeling with a Hand-Held Camera
International Journal of Computer Vision
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
A Performance Evaluation of Local Descriptors
IEEE Transactions on Pattern Analysis and Machine Intelligence
VideoTrace: rapid interactive scene modelling from video
ACM SIGGRAPH 2007 papers
Modeling the World from Internet Photo Collections
International Journal of Computer Vision
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Efficient non-consecutive feature tracking for structure-from-motion
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part V
Bivariate feature localization for SIFT assuming a Gaussian feature shape
ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part I
Automatic camera calibration and scene reconstruction with scale-invariant features
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part I
Learning object appearance from occlusions using structure and motion recovery
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part III
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Common techniques in structure from motion do not explicitly handle foreground occlusions and disocclusions, leading to several trajectories of a single 3D point. Hence, different discontinued trajectories induce a set of (more inaccurate) 3D points instead of a single 3D point, so that it is highly desirable to enforce long continuous trajectories which automatically bridge occlusions after a re-identification step. The solution proposed in this paper is to connect features in the current image to trajectories which discontinued earlier during the tracking. This is done using a correspondence analysis which is designed for wide baselines and an outlier elimination strategy using the epipolar geometry. The reference to the 3D object points can be used as a new constraint in the bundle adjustment. The feature localization is done using the SIFT detector extended by a Gaussian approximation of the gradient image signal. This technique provides the robustness of SIFT coupled with increased localization accuracy. Our results show that the reconstruction can be drastically improved and the drift is reduced, especially in sequences with occlusions resulting from foreground objects. In scenarios with large occlusions, the new approach leads to reliable and accurate results while a standard reference method fails.