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Geometrically Constrained Structure from Motion: Points on Planes

Richard Szeliski and Phil Torr


Structure from motion algorithms typically do not use exter- nal geometric constraints, e.g., the coplanarity of certain points or known orientations associated with such planes, until a final post-processing stage. In this paper, we show how such geometric constraints can be incorporated early on in the reconstruction process, thereby improving the quality of the estimates. The approaches we study include hallu- cinating extra point matches in planar regions, computing fundamental matrices directly from homographies, and applying coplanarity and other geometric constraints as part of the final bundle adjustment stage. Our experimental results indicate that the quality of the reconstruction can be significantly improved by the judicious use of geometric constraints.


Publication typeInproceedings
Published inEuropean Workshop on 3D Structure from Multiple Images of Large-Scale Environments (SMILE)
AddressFreiburg, Germany
PublisherSpringer Verlag
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