Fast Bilinear Structure from Motion with Side Information
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We study the beneficial effect of side
information on the Structure from Motion (SfM) estimation problem. The
side information that we consider is measurement of a ‘reference
vector’ and distance from fixed plane perpendicular to that
reference vector. Firstly, we show that in the presence of this
information, the SfM equations can be rewritten similar to a bilinear
form in its unknowns. Secondly, we describe a fast iterative estimation
procedure to recover the structure of both stationary scenes and moving
objects that capitalizes on this information. We also provide a
refinement procedure in order to tackle incomplete or noisy side
information. We characterize the algorithm with respect to its
reconstruction accuracy, memory requirements and stability. Finally, we
describe two classes of commonly occurring real-world scenarios in
which this algorithm will be effective: (a) presence of a dominant
ground plane in the scene and (b) presence of an inertial measurement
unit on board. Experiments using both real data and rigorous
simulations show the efficacy of the algorithm. Mahesh Ramachandran, Ashok Veeraraghavan and Rama Chellappa. Fast Bilinear SFM with side information, Accepted for Presentation at IEEE International Conference on Computer Vision (ICCV), 2007. [pdf] |