Global Alignment and Structure from Motion

Overview

Readings

Problem: Drift

Global optimization

Global optimization

Global optimization

Global optimization

Ambiguity in global location

Solving for rotations

Solving for rotations

Parameterizing rotations

Nonlinear Least Squares

Camera Calibration

Camera calibration

Camera calibration – approaches

Image formation equations

Calibration matrix

Camera matrix

Camera matrix calibration

Camera matrix calibration

Camera matrix calibration

Multi-plane calibration

Pose estimation and triangulation

Pose estimation

Triangulation

Triangulation

Triangulation

Structure from Motion

Structure from motion

Orthographic SFM

Extensions

SfM objective function

Scene reconstruction

Feature detection

Feature detection

Feature detection

Feature matching

Feature matching

Reconstruction

Two-view structure from motion

Notes on two-view geometry

Properties of the essential matrix

Properties of the essential matrix

The Fundamental matrix

Photo Tourism overview