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This paper considers metric 3D reconstruction with hierarchical merging. We first describe pairwise matching of images for spanning tree construction. The epipolar constraint is imposed on two related vertices. We then present a partition method to group the images into duplets or triplets for partial reconstruction. A robust hierarchical scheme that merges partial reconstruction together is used...
We present a novel approach that, given two sets of unmatched keypoints, simultaneously estimates the in-plane camera motion and keypoint matches without using photometric information. Standard approaches estimate the epipolar geometry based on putative matches, first established with photometric information, then accepted or rejected using the epipolar constraint. Our method discretizes the space...
Many image analysis tasks require an outlier detection procedure to identify the false matches. In this paper, a fast and effective outlier detection method is presented to match images in the uncalibrated case. This method employs a hypothesis test on the consistency of dominant orientations of the feature points to significantly increase the detection speed. Moreover, it can also effectively find...
Analytic manifolds were recently used for motion averaging, segmentation and robust estimation. Here we consider the epipolar constraint for calibrated cameras, which is the most general motion model for calibrated cameras and is encoded by the essential matrix. The set of all essential matrices forms the essential manifold. We provide a theoretical characterization of the geometry of the essential...
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