Structure from Motion : Who’s afraid of a couple typos? Work based on that of Hartley by Josh Wills.

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Presentation transcript:

Structure from Motion : Who’s afraid of a couple typos? Work based on that of Hartley by Josh Wills

Pictures

Algorithm Summary Compute a set of correspondences Find the inliers via RANSAC Get linear estimates of F, P, P’, and X Use Levenberg-Marquardt to get a better estimation of F (and therefore P and P’) Re-estimate x and x’ using a nonlinear method Re-estimate X Solve for true X using ground truth

Initial reprojected points

Initial Structure

Final reprojected points

Corrected Structure

Structure with Cameras