Title:
Line-Based Structure From Motion for Urban Environments
Line-Based Structure From Motion for Urban Environments
Author(s)
Schindler, Grant
Krishnamurthy, Panchapagesan
Dellaert, Frank
Krishnamurthy, Panchapagesan
Dellaert, Frank
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Abstract
We present a novel method for recovering the 3D-line structure
of a scene from multiple widely separated views. Traditional
optimization-based approaches to line-based structure
from motion minimize the error between measured line
segments and the projections of corresponding 3D lines. In
such a case, 3D lines can be optimized using a minimum of
4 parameters. We show that this number of parameters can
be further reduced by introducing additional constraints on
the orientations of lines in a 3D scene.
In our approach, 2D-lines are automatically detected in
images with the assistance of an EM-based vanishing point
estimation method which assumes the existence of edges
along mutally orthogonal vanishing directions. Each detected
line is automatically labeled with the orientation (e.g.
vertical, horizontal) of the 3D line which generated the measurement,
and it is this additional knowledge that we use to
reduce the number of degrees of freedom of 3D lines during
optimization. We present 3D reconstruction results for
urban scenes based on manually established feature correspondences
across images.
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Date Issued
2006-06
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