Relations between bundle-adjustment and epipolar-geometry-based approaches, and their applications to efficient structure from motion.
Youngmo HanPublished in: Real Time Imaging (2004)
Keyphrases
- bundle adjustment
- structure from motion
- epipolar geometry
- camera motion
- point correspondences
- stereo rig
- epipolar constraint
- image sequences
- scene structure
- camera parameters
- image correspondences
- camera positions
- fundamental matrix
- feature points
- reprojection error
- point cloud
- missing data
- multi view
- nonlinear optimization
- feature tracking
- uncalibrated images
- camera pose
- focal length
- feature correspondences
- computer vision
- stereo pair
- least squares
- moving objects
- video sequences
- optical flow
- trifocal tensor
- ego motion
- geometric constraints
- rigid motion
- radial distortion
- autocalibration
- epipolar lines
- image pairs
- machine learning
- intrinsic parameters
- closed form
- uncalibrated cameras