Abstract
Structure from Motion (SfM) is a series of methods for reconstructing scene structure (i.e.three-dimensional space points) and camera motion (i.e.camera pose) from an image set. In this paper, aimed at the low accuracy of the global reconstruction, the robustness to external points and the time-consuming incremental reconstruction, a fast, closed-loop and high precision reconstruction method is proposed. The method is based on the SIFT matching algorithm GeoMatch, which is constrained by geometric structure of the scene and by numerical and statistical characteristics of feature invariant scale transformation. Experiments show that GeoMatch outperforms both traditional tree-based and hash-based matching methods in terms of time and accuracy.
Highlights
Motion recovery structure(Structure from Motion, SfM)is a series of methods to reconstruct scene structure and camera motion from image centralization
Compared with global reconstruction methods, incremental reconstruction methods have the advantages of high reconstruction accuracy and robustness to external points, while its disadvantages are large time complexity caused by the selection of initial image pairs and unable to stop the loop
Compared with incremental reconstruction methods, global reconstruction methods have the advantages of fast reconstruction speed, accurate closedloop, and its disadvantages are low reconstruction accuracy and robustness to external points
Summary
Motion recovery structure(Structure from Motion, SfM)is a series of methods to reconstruct scene structure (i.e. threedimensional space points) and camera motion (i.e. camera pose) from image centralization. The typical methods are incremental reconstruction and global reconstruction. For these two reconstruction methods, feature point matching is the most time-consuming stage. Compared with global reconstruction methods, incremental reconstruction methods have the advantages of high reconstruction accuracy and robustness to external points, while its disadvantages are large time complexity caused by the selection of initial image pairs and unable to stop the loop. Compared with incremental reconstruction methods, global reconstruction methods have the advantages of fast reconstruction speed, accurate closedloop, and its disadvantages are low reconstruction accuracy and robustness to external points. Experiments show that GeoMatch outperforms both traditional tree-based and hash-based matching methods in terms of time and accuracy
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