Title:
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
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