Efficient Bundle Adjustment with Virtual Key Frames: A Hierarchical Approach to Multi-Frame Structure from Motion
- Qifa Ke ,
- Zhengyou Zhang ,
- Harry Shum
Proceedings IEEE Conference on Computer Vision and Pattern Recognition (CVPR) |
In this paper we present an efficient heirarchical approach to structure from motino for long image sequences. There are two key elements to our approach: accurate 3D reconstruction for each segment and efficient bundle adjustment for the whole sequence.