Stratified Self-Calibration with the Modulus Constraint
IEEE Transactions on Pattern Analysis and Machine Intelligence
Bayesian Model Estimation and Selection for Epipolar Geometry and Generic Manifold Fitting
International Journal of Computer Vision
Simultaneous Localization and Map-Building Using Active Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Framework for Low Level Feature Extraction
ECCV '94 Proceedings of the Third European Conference-Volume II on Computer Vision - Volume II
3D Model Acquisition from Extended Image Sequences
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
Feature Based Methods for Structure and Motion Estimation
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
Frame Decimation for Structure and Motion
SMILE '00 Revised Papers from Second European Workshop on 3D Structure from Multiple Images of Large-Scale Environments
Robust Calibration and 3D Geometric Modeling From Large Collections of Uncalibrated Images
Mustererkennung 1999, 21. DAGM-Symposium
A Stratified Approach to Metric Self-Calibration
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
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
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Uncertain Projective Geometry: Statistical Reasoning For Polyhedral Object Reconstruction (Lecture Notes in Computer Science)
Uncertainty Modeling and Model Selection for Geometric Inference
IEEE Transactions on Pattern Analysis and Machine Intelligence
3DIM '05 Proceedings of the Fifth International Conference on 3-D Digital Imaging and Modeling
Vision-based global localization and mapping for mobile robots
IEEE Transactions on Robotics
IEEE Transactions on Information Theory
Modeling and Recognition of Landmark Image Collections Using Iconic Scene Graphs
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
Recursive estimation with implicit constraints
Proceedings of the 29th DAGM conference on Pattern recognition
Building Rome on a cloudless day
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part IV
Stable structure from motion for unordered image collections
SCIA'11 Proceedings of the 17th Scandinavian conference on Image analysis
Modeling and Recognition of Landmark Image Collections Using Iconic Scene Graphs
International Journal of Computer Vision
ISVC'11 Proceedings of the 7th international conference on Advances in visual computing - Volume Part I
Large-scale, dense city reconstruction from user-contributed photos
Computer Vision and Image Understanding
Ray divergence-based bundle adjustment conditioning for multi-view stereo
PSIVT'11 Proceedings of the 5th Pacific Rim conference on Advances in Image and Video Technology - Volume Part I
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Algorithms for metric 3d reconstruction of scenes from calibrated image sequences always require an initialization phase for fixing the scale of the reconstruction. Usually this is done by selecting two frames from the sequence and fixing the length of their base-line. In this paper a quality measure, that is based on the uncertainty of the reconstructed scene points, for the selection of such a stable image pair is proposed. Based on this quality measure a fully automatic initialization phase for simultaneous localization and mapping algorithms is derived. The proposed algorithm runs in real-time and some results for synthetic as well as real image sequences are shown.