Geometry and Texture from Thousands of Images

  • Authors:
  • J. P. Mellor

  • Affiliations:
  • -

  • Venue:
  • SMILE '00 Revised Papers from Second European Workshop on 3D Structure from Multiple Images of Large-Scale Environments
  • Year:
  • 2000

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Abstract

This paper presents a novel method for automatically recovering dense surface patches using large sets (1000's) of calibrated images taken from arbitrary positions within the scene. Physical instruments, such as Global Positioning System (GPS), inertial sensors, and inclinometers, are used to estimate the position and orientation of each image. Some of the most important characteristics of our approach are that it: 1) uses and refines noisy calibration estimates; 2) compensates for large variations in illumination; 3) tolerates significant soft occlusion (e.g. tree branches); and 4) associates, at a fundamental level, an estimated normal (eliminating the frontal-planar assumption) and texture with each surface patch.