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Efficient 3D Reconstruction Approach with Structure from Motion: A Closer Look at Error Handling

Explore an iterative process of refining image correspondences for accurate scene reconstruction in 3D using Structure from Motion. Learn how RANSAC filters outliers, Levenberg-Marquardt refines fundamental matrix, and nonlinear methods improve estimates. Work based on Hartley's algorithm, with emphasis on error handling for robust results.

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Efficient 3D Reconstruction Approach with Structure from Motion: A Closer Look at Error Handling

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Presentation Transcript

  1. Structure from Motion :Who’s afraid of a couple typos? Work based on that of Hartley by Josh Wills

  2. Pictures

  3. Algorithm Summary • Compute a set of correspondences • Find the inliers via RANSAC • Get linear estimates of F, P, P’, and X • Use Levenberg-Marquardt to get a better estimation of F (and therefore P and P’) • Re-estimate x and x’ using a nonlinear method • Re-estimate X • Solve for true X using ground truth

  4. Initial reprojected points

  5. Initial Structure

  6. Final reprojected points

  7. Corrected Structure

  8. Structure with Cameras

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