Structure-from-Motion Revisited

Structure-from-Motion RevisitedJohannes L. Sch onberger1,2 , Jan-Michael Frahm11 University of North Carolina at Chapel Hill2 Eidgen ossische Technische Hochschule Z Structure-from-Motion is a prevalent strat-egy for 3D reconstruction from unordered image collec-tions. While incremental reconstruction systems havetremendously advanced in all regards, robustness, accu-racy, completeness, and scalability remain the key problemstowards building a truly general-purpose pipeline. We pro-pose a new SfM technique that improves upon the state ofthe art to make a further step towards this ultimate full reconstruction pipeline is released to the public asan open-source IntroductionStructure-from- motion (SfM) from unordered imageshas seen tremendous evolution over the years.

a planar scene [26]. Epipolar geometry [26] describes the relation for a moving camera through the essential matrix E (calibrated) or the fundamental matrix F (uncalibrated), and can be extended to three views using the trifocal ten-sor [26]. If a valid transformation maps a sufficient number of features between the images, they are considered ...

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  Form, Structure, Motion, Epipolar, Structure from motion

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