Title:
Line-Based Structure From Motion for Urban Environments
Line-Based Structure From Motion for Urban Environments
dc.contributor.author | Schindler, Grant | |
dc.contributor.author | Krishnamurthy, Panchapagesan | |
dc.contributor.author | Dellaert, Frank | |
dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
dc.contributor.corporatename | Georgia Institute of Technology. College of Computing | |
dc.date.accessioned | 2011-04-19T18:49:31Z | |
dc.date.available | 2011-04-19T18:49:31Z | |
dc.date.issued | 2006-06 | |
dc.description | ©2006 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
dc.description | Presented at the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT 2006), 14-16 June 2006, Chapel Hill, N.C. | |
dc.description | DOI: 10.1109/3DPVT.2006.90 | |
dc.description.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. | en_US |
dc.identifier.citation | Schindler, G., Krishnamurthy, P., & Dellaert, F. (2006). “Line-Based Structure from Motion for Urban Environments”. Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT 2006), 14-16 June 2006, 846-853. | en_US |
dc.identifier.isbn | 0-7695-2825-2 | |
dc.identifier.uri | http://hdl.handle.net/1853/38599 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.publisher.original | Institute of Electrical and Electronics Engineers | |
dc.subject | Optimization | en_US |
dc.subject | Parameters | en_US |
dc.subject | 3D lines | en_US |
dc.subject | 3D reconstruction | en_US |
dc.subject | Urban environments | en_US |
dc.subject | Vanishing directions | en_US |
dc.subject | Vanishing points | en_US |
dc.title | Line-Based Structure From Motion for Urban Environments | en_US |
dc.type | Text | |
dc.type.genre | Post-print | |
dc.type.genre | Proceedings | |
dspace.entity.type | Publication | |
local.contributor.author | Dellaert, Frank | |
local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
relation.isAuthorOfPublication | dac80074-d9d8-4358-b6eb-397d95bdc868 | |
relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |