Stable two view reconstruction using the six-point algorithm

  • Authors:

  • Kazuki Nozawa;Akihiko Torii;Masatoshi Okutomi

  • Affiliations:

  • Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan;Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan;Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan

  • Venue:
  • ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
  • Year:
  • 2012

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Abstract

We propose a practical scheme for selecting a pair of images which can be a good initial seed for incremental SfM to accomplish a feasible reconstruction from input images with no external camera information such as EXIF. The key idea is the effective use of the 6-point algorithm by detecting infeasible pairs of images due to the degenerate configurations as well as the other conditions. We deeply analyze all the degenerate configurations of the 6-point algorithm and derive the algorithms for detecting image pairs fallen into those degenerate configurations. Further, we implement an efficient pipeline for selecting the initial pair, which can be easily plugged into the standard incremental SfM systems. Our experimental results on synthetic and real data show that our algorithms successfully detect and reject the pairs of images which are infeasible for 3D reconstruction. Further, we demonstrate 3D reconstruction by plugging our infeasible pair detection algorithm into the standard SfM pipeline.