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Structure from motion causally integrated over time
Abstract
We describe an algorithm for reconstructing three-dimensional structure and motion causally, in real time from monocular sequences of images. We prove that the algorithm is minimal and stable, in the sense that the estimation error remains bounded with probability one throughout a sequence of arbitrary length. We discuss a scheme for handling occlusions (point features appearing and disappearing) and drift in the scale factor. These issues are crucial for the algorithm to operate in real time on real scenes. We describe in detail the implementation of the algorithm, which runs on a personal computer and has been made available to the community. We report the performance of our implementation on a few representative long sequences of real and synthetic images. The algorithm, which has been tested extensively over the course of the past few years, exhibits honest performance when the scene contains at least 20-40 points with high contrast, when the relative motion is "slow" compared to the sampling frequency of the frame grabber (30 Hz), and the lens aperture is "large enough" (typically more than 30/spl deg/ of visual field).
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Cited by
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Mur-Artal, R., Montiel, J. M. M., & Tardos, J. D. (2015) · IEEE Transactions on Robotics · doi:10.1109/tro.2015.2463671 · Cited by 6,778
A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation
Mourikis, A. I., & Roumeliotis, S. I. (2007) · Proceedings 2007 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2007.364024 · Cited by 1,951
Monocular model-based 3D tracking of rigid objects: a survey
Lepetit, V., & Fua, P. (2005) · Foundations and Trends® in Computer Graphics and Vision · doi:10.1561/0600000001 · Cited by 484
Strasdat, H., Montiel, J. M. M., & Davison, A. J. (2012) · Image and Vision Computing · doi:10.1016/j.imavis.2012.02.009 · Cited by 439
Eade, E., & Drummond, T. (2006) · 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1 (CVPR'06) · doi:10.1109/cvpr.2006.263 · Cited by 396
Metadata
- Authors
- Chiuso, A., Favaro, P., Jin, H., & Soatto, S.
- Venue
- IEEE Transactions on Pattern Analysis and Machine Intelligence
- Published
- 2002-04
- Volume
- 24
- Issue
- 4
- Pages
- 523-535
- ISSN
- 0162-8828 (ISSN-L)
- OpenAlex
- W2139834417
- Cited by
- 324
- References
- 0
- FWCI
- 21.72
- Type
- journal article
- Language
- en
- Open access
- closed
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- Chiuso, A., Favaro, P., Jin, H., & Soatto, S. (2002). Structure from motion causally integrated over time. IEEE Transactions on Pattern Analysis and Machine Intelligence. https://doi.org/10.1109/34.993559
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