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A generic structure-from-motion framework

Srikumar Ramalingam 1 Suresh K. Lodha 2 Peter Sturm 1
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : We introduce a generic structure-from-motion approach based on a previously introduced, highly general imaging model, where cameras are modeled as possibly unconstrained sets of projection rays. This allows to describe most existing camera types including pinhole cameras, sensors with radial or more general distortions, catadioptric cameras (central or non-central), etc. We introduce a structurefrom- motion approach for this general imaging model, that allows to reconstruct scenes from calibrated images, possibly taken by cameras of different types (cross-camera scenarios). Structure-from-motion is naturally handled via camera independent ray intersection problems, solved via linear or simple polynomial equations. We also propose two approaches for obtaining optimal solutions using bundle adjustment, where camera motion, calibration and 3D point coordinates are refined simultaneously. The proposed methods are evaluated via experiments on two cross-camera scenarios—a pinhole used together with an omni-directional camera and a stereo system used with an omni-directional camera.
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Submitted on : Thursday, May 14, 2009 - 5:51:26 PM
Last modification on : Monday, December 28, 2020 - 3:44:02 PM


  • HAL Id : inria-00384319, version 1




Srikumar Ramalingam, Suresh K. Lodha, Peter Sturm. A generic structure-from-motion framework. Computer Vision and Image Understanding, Elsevier, 2006, 103 (3), pp.218-228. ⟨inria-00384319⟩



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