Shape and motion from image streams under orthography: a factorization method
International Journal of Computer Vision
The Problem of Degeneracy in Structure and Motion Recovery from Uncalibrated Image Sequences
International Journal of Computer Vision - 1998 Marr Prize
A Factorization Based Algorithm for Multi-Image Projective Structure and Motion
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
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
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Convex Optimization
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
Removing Outliers Using The L\infty Norm
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Multiple-View Geometry Under the {$L_\infty$}-Norm
IEEE Transactions on Pattern Analysis and Machine Intelligence
Global Optimization through Rotation Space Search
International Journal of Computer Vision
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Robustness in motion averaging
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part II
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This paper proposes a method for enhancing accuracy of point clouds which are generated from small baseline of sequence images. The main contributions are threefold: First, the constraints of image pair-wise are computed based on invariant feature. The correspondence problem is solved by iterative method which remove the outlier. To avoid the disadvantage of incremental structure from motion, the global rotation of cameras are estimated by a robust method in the second step. These global rotations are fed to the point clouds generation procedure in next (third) step. In contrast with bundle adjustment which can gain local minima of back-projection error in L2-norm, the proposed method utilized error minimization in L∞-norm to triangulate accurately 3D points recast in quasiconvex optimization form. The simulation results will demonstrate the accuracy of this method from large view scene images in outdoor environment.