SIAM Journal on Matrix Analysis and Applications
Computer Vision and Image Understanding
International Journal of Computer Vision - 1998 Marr Prize
Evaluation of Interest Point Detectors
International Journal of Computer Vision - Special issue on a special section on visual surveillance
Multiple view geometry in computer vision
Multiple view geometry in computer vision
Statistical Optimization for Geometric Computation: Theory and Practice
Statistical Optimization for Geometric Computation: Theory and Practice
Algebraic Functions For Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence
3D Model Acquisition from Extended Image Sequences
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
Automatic Camera Recovery for Closed or Open Image Sequences
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
A Minimal Set of Constraints for the Trivocal Tensor
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
Euclidean Reconstruction from Uncalibrated Views
Proceedings of the Second Joint European - US Workshop on Applications of Invariance in Computer Vision
Autocalibration and the absolute quadric
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
A unifying framework for structure and motion recovery from image sequences
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
In defence of the 8-point algorithm
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Heteroscedastic errors-in-variables models in computer vision
Heteroscedastic errors-in-variables models in computer vision
A Nonlinear Method for Estimating the Projective Geometry of 3 Views
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Robust Computation and Parametrization of Multiple View Relations
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Estimation of Nonlinear Errors-in-Variables Models for Computer Vision Applications
IEEE Transactions on Pattern Analysis and Machine Intelligence
A recursive camera resectioning technique for off-line video-based augmented reality
Pattern Recognition Letters
A Probabilistic Method for Point Matching in the Presence of Noise and Degeneracy
Journal of Mathematical Imaging and Vision
Robustness in motion averaging
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part II
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Metric reconstruction of a scene viewed by an uncalibrated camera undergoing an unknown motion is a fundamental task in computer vision. To obtain accurate results all the methods rely on bundle adjustment, a nonlinear optimization technique which minimizes the reprojection error over the structural and camera parameters. Bundle adjustment is optimal for normally distributed measurement noise, however, its performance depends on the starting point. The initial solution is usually obtained by solving a linearized constraint through a total least squares procedure, which yields a biased estimate. We present a more balanced approach where in main computational modules of an uncalibrated reconstruction system, the initial solution is obtained from a statistically justified estimator which assures its unbiasedness. Since the quality of the new initial solution is already comparable with that of the result of bundle adjustment, the burden on the latter is drastically reduced while its reliability is significantly increased. The performance of our system was assessed for both synthetic data and standard image sequences.