Events
The Taub Faculty of Computer Science Events and Talks
Mica Arie-Nachimson (Math, Weizmann Institute of Science)
Tuesday, 03.07.2012, 11:30
Multiview structure recovery from a collection of images requires the
recovery of the positions and orientations of the cameras relative to a
global coordinate system. We present an approach to this problem that given
feature correspondences across pairs of images uses the pairwise Essential
Matrices to recover camera orientation by applying robust optimization
using either spectral or semidefinite programming relaxations. Once the
orientations are recovered we return to the point correspondences and use
them directly to recover the positions of the cameras using a linear
algorithm based on a novel decomposition of the Essential Matrix. Our
method accounts simultaneously for all images in a collection (in contrast
to sequential processing), and enables efficient and accurate computation
of the camera exterior parameters. This is demonstrated on collections of
images for which ground truth measurements are available, as well as
Internet images.