Global Alignment and
Structure from Motion

Today’s lecture

Today’s lecture

Global rotational alignment

AutoStitch [Brown & Lowe’03]

3D Rotation Model

Pairwise alignment

Pairwise alignment

Automatic stitching

Incremental selection & addition

Global alignment

Parameterizing rotations

Global alignment

Iterative focal length adjustment

Camera Calibration

Camera calibration

Camera calibration – approaches

Image formation equations

Calibration matrix

Camera matrix

Camera matrix calibration

Camera matrix calibration

Levenberg-Marquardt

Levenberg-Marquardt

Levenberg-Marquardt

Camera matrix calibration

Separate intrinsics / extrinsics

Intrinsic/extrinsic calibration

Vanishing Points

Vanishing point calibration

Multi-plane calibration

Rotational motion

Pose estimation and triangulation

Pose estimation

Pose estimation

Triangulation

Triangulation

Triangulation

Structure from Motion

Structure from motion

Structure from motion

Two-frame methods

Essential matrix

Fundamental matrix

Multi-frame Structure from Motion

Factorization

Structure [from] Motion

Measurement equations

Factorization

Results

Extensions

Bundle Adjustment

Lots of parameters: sparsity

Sparse Cholesky (skyline)

Conditioning and gauge freedom

Robust error models

Structure from motion: limitations

Bibliography

Bibliography

Bibliography

Bibliography

Bibliography

Bibliography