3D geometry from uncalibrated images

Authors:
George Kamberov;Gerda Kamberova;O. Chum;Š. Obdržálek;D. Martinec;J. Kostková;T. Pajdla;J. Matas;R. Šára
Affiliations:
Stevens Institute of Technology, Hoboken, NJ;Hofstra University, Hempstead, NY;Center for Machine Perception, Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague 6, Czech Republic;Center for Machine Perception, Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague 6, Czech Republic;Center for Machine Perception, Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague 6, Czech Republic;Center for Machine Perception, Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague 6, Czech Republic;Center for Machine Perception, Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague 6, Czech Republic;Center for Machine Perception, Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague 6, Czech Republic;Center for Machine Perception, Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Prague 6, Czech Republic
Venue:
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
Year:
2006

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Abstract

We present an automatic pipeline for recovering the geometry of a 3D scene from a set of unordered, uncalibrated images. The contributions in the paper are the presentation of the system as a whole, from images to geometry, the estimation of the local scale for various scene components in the orientation-topology module, the procedure for orienting the cloud components, and the method for dealing with points of contact. The methods are aimed to process complex scenes and non-uniformly sampled, noisy data sets.