Constrained Structure and Motion from N Views of a Piecewise Planar Scene
Constrained Structure and Motion from N Views of a Piecewise Planar Scene
复制标题
分段平面场景的 N 个视图的约束结构和运动
DOI：
10.1007/978-1-4471-0337-0_21
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发表时间：
2001
期刊：
影响因子：
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通讯作者：
Peter F. Sturm
中科院分区：
文献类型：
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作者：
Adrien Bartoli;Peter F. Sturm
本文研究了刚性场景的结构和运动恢复问题。特别是，我们处理了包含平面的场景，即共面点集的情况，重点讨论了结构和运动估计，这是任何重建系统的主要步骤之一。更详细地，我们探索了多共面的强约束，大多数现有的工作只以次优的方式利用。一个典型的例子是估计不受约束的结构和运动，然后对平面进行拟合，并可能校正3D点位置以使它们共面。在本文中，我们提出了一种同时最优地估计摄像机运动和分段平面结构的方法：在满足多共面性的情况下，结果最小化了重投影误差。使用混合的2D/3D实体一致地将估计问题参数化。实验结果表明，与传统的基于点的重建方法相比，即使场景不是完全分片的平面，重建的质量也明显优于传统的基于点的方法，并且与其他基于平面的方法相比，重建的精度更高。
This paper is about the problem of structure and motion recovery fromNviews of a rigid scene. Especially, we deal with the case of scenes containing planes, i.e. sets of coplanar points and focus on structure and motion estimation, which is one of the major steps of any reconstruction system. In more detail, we explore the strong constraint of multi-coplanarity, exploited only in a sub-optimal manner by most existing works. A typical example is to estimate an unconstrained structure and motion and then to fit planes and maybe correct3Dpoint positions to make them coplanar. In this paper, we present an approach to estimate camera motion and piecewise planar structure simultaneously and optimally: the result minimizes reprojection error, while satisfying the multi-coplanarity. The estimation problem is consistently parameterized using mixed2D/3Dentities. Experimental results show that the reconstruction is of clearly superior quality compared to traditional methods based only on points, even if the scene is not perfectly piecewise planar, and more accurate compared to other plane-based methods.