Results 1  10
of
169
Bundle Adjustment  A Modern Synthesis
 VISION ALGORITHMS: THEORY AND PRACTICE, LNCS
, 2000
"... This paper is a survey of the theory and methods of photogrammetric bundle adjustment, aimed at potential implementors in the computer vision community. Bundle adjustment is the problem of refining a visual reconstruction to produce jointly optimal structure and viewing parameter estimates. Topics c ..."
Abstract

Cited by 555 (12 self)
 Add to MetaCart
(Show Context)
This paper is a survey of the theory and methods of photogrammetric bundle adjustment, aimed at potential implementors in the computer vision community. Bundle adjustment is the problem of refining a visual reconstruction to produce jointly optimal structure and viewing parameter estimates. Topics covered include: the choice of cost function and robustness; numerical optimization including sparse Newton methods, linearly convergent approximations, updating and recursive methods; gauge (datum) invariance; and quality control. The theory is developed for general robust cost functions rather than restricting attention to traditional nonlinear least squares.
Rendering with concentric mosaics
 in Proc. SIGGRAPH
, 1999
"... This paper presents a novel 3D plenoptic function, which we call concentric mosaics. We constrain camera motion to planar concentric circles, and create concentric mosaics using a manifold mosaic for each circle (i.e., composing slit images taken at different locations). Concentric mosaics index all ..."
Abstract

Cited by 243 (29 self)
 Add to MetaCart
(Show Context)
This paper presents a novel 3D plenoptic function, which we call concentric mosaics. We constrain camera motion to planar concentric circles, and create concentric mosaics using a manifold mosaic for each circle (i.e., composing slit images taken at different locations). Concentric mosaics index all input image rays naturally in 3 parameters: radius, rotation angle and vertical elevation. Novel views are rendered by combining the appropriate captured rays in an efficient manner at rendering time. Although vertical distortions exist in the rendered images, they can be alleviated by depth correction. Like panoramas, concentric mosaics do not require recovering geometric and photometric scene models. Moreover, concentric mosaics provide a much richer user experience by allowing the user to move freely in a circular region and observe significant parallax and lighting changes. Compared with a Lightfield or Lumigraph, concentric mosaics have much smaller file size because only a 3D plenoptic function is constructed. Concentric mosaics have good space and computational efficiency, and are very easy to capture. This paper discusses a complete working system from capturing, construction, compression, to rendering of concentric mosaics from synthetic and real environments.
Stereo Processing by SemiGlobal Matching and Mutual Information
 IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE
, 2007
"... This paper describes the SemiGlobal Matching (SGM) stereo method. It uses a pixelwise, Mutual Information based matching cost for compensating radiometric differences of input images. Pixelwise matching is supported by a smoothness constraint that is usually expressed as a global cost function. SGM ..."
Abstract

Cited by 214 (1 self)
 Add to MetaCart
This paper describes the SemiGlobal Matching (SGM) stereo method. It uses a pixelwise, Mutual Information based matching cost for compensating radiometric differences of input images. Pixelwise matching is supported by a smoothness constraint that is usually expressed as a global cost function. SGM performs a fast approximation by pathwise optimizations from all directions. The discussion also addresses occlusion detection, subpixel refinement and multibaseline matching. Additionally, postprocessing steps for removing outliers, recovering from specific problems of structured environments and the interpolation of gaps are presented. Finally, strategies for processing almost arbitrarily large images and fusion of disparity images using orthographic projection are proposed. A comparison on standard stereo images shows that SGM is among the currently topranked algorithms and is best, if subpixel accuracy is considered. The complexity is linear to the number of pixels and disparity range, which results in a runtime of just 12s on typical test images. An in depth evaluation of the Mutual Information based matching cost demonstrates a tolerance against a wide range of radiometric transformations. Finally, examples of reconstructions from huge aerial frame and pushbroom images demonstrate that the presented ideas are working well on practical problems.
MultipleCenterofProjection Images
, 1998
"... In imagebased rendering, images acquired from a scene are used to represent the scene itself. A number of reference images are required to fully represent even the simplest scene. This leads to a number of problems during image acquisition and subsequent reconstruction. We present the multiplecent ..."
Abstract

Cited by 168 (3 self)
 Add to MetaCart
In imagebased rendering, images acquired from a scene are used to represent the scene itself. A number of reference images are required to fully represent even the simplest scene. This leads to a number of problems during image acquisition and subsequent reconstruction. We present the multiplecenterofprojection image, a single image acquired from multiple locations, which solves many of the problems of working with multiple range images. This work develops and discusses multiplecenterofprojection images, and explains their advantages over conventional range images for imagebased rendering. The contributions include greater flexibility during image acquisition and improved image reconstruction due to greater connectivity information. We discuss the acquisition and rendering of multiplecenterofprojection datasets, and the associated sampling issues. We also discuss the unique epipolar and correspondence properties of this class of image. CR Categories: I.3.3 [Computer Graphic...
Panoramic Mosaics by Manifold Projection
, 1997
"... As the field of view of a picture is much smaller than our own visual field of view, it is common to paste together several pictures to create a panoramic mosaic having a larger field of view. Images with a wider field of view can be generated by using fisheye lens, or panoramic mosaics can be crea ..."
Abstract

Cited by 148 (7 self)
 Add to MetaCart
As the field of view of a picture is much smaller than our own visual field of view, it is common to paste together several pictures to create a panoramic mosaic having a larger field of view. Images with a wider field of view can be generated by using fisheye lens, or panoramic mosaics can be created by special devices which rotate around the camera's optical center (Quicktime VR, Surround Video), or by aligning, and pasting, frames in a video sequence to a single reference frame. Existing mosaicing methods have strong limitations on imaging conditions, and distortions are common. Manifold projection enables the creation of panoramic mosaics from video sequences under more general conditions, and in particular the unrestricted motion of a handheld camera. The panoramic mosaic is a projection of the scene into a virtual manifold whose structure depends on the camera's motion. This manifold is more general than the customary projections onto a single image plane or onto a cylinder.
The Space of All Stereo Images
, 2001
"... A theory of stereo image formation is presented that enables a complete classification of all possible stereo views, including nonperspective varieties. Towards this end, the notion of epipolar geometry is generalized to apply to multiperspective images. It is shown that any stereo pair must consis ..."
Abstract

Cited by 88 (3 self)
 Add to MetaCart
(Show Context)
A theory of stereo image formation is presented that enables a complete classification of all possible stereo views, including nonperspective varieties. Towards this end, the notion of epipolar geometry is generalized to apply to multiperspective images. It is shown that any stereo pair must consist of rays lying on one of three varieties of quadric surfaces. A unified representation is developed to model all classes of stereo views, based on the concept of a quadric view. The benefits include a unified treatment of projection and triangulation operations for all stereo views. The framework is applied to derive new types of stereo image representations with unusual and useful properties.
Mosaicing New Views: The CrossedSlits Projection
 IEEE Transactions on Pattern Analysis and Machine Intelligence
, 2003
"... Abstract—We introduce a new kind of mosaicing, where the position of the sampling strip varies as a function of the input camera location. The new images that are generated this way correspond to a new projection model defined by two slits, termed here the CrossedSlits (XSlits) projection. In this ..."
Abstract

Cited by 82 (6 self)
 Add to MetaCart
(Show Context)
Abstract—We introduce a new kind of mosaicing, where the position of the sampling strip varies as a function of the input camera location. The new images that are generated this way correspond to a new projection model defined by two slits, termed here the CrossedSlits (XSlits) projection. In this projection model, every 3D point is projected by a ray defined as the line that passes through that point and intersects the two slits. The intersection of the projection rays with the imaging surface defines the image. XSlits mosaicing provides two benefits. First, the generated mosaics are closer to perspective images than traditional pushbroom mosaics. Second, by simple manipulations of the strip sampling function, we can change the location of one of the virtual slits, providing a virtual walkthrough of a Xslits camera; all this can be done without recovering any 3D geometry and without calibration. A number of examples where we translate the virtual camera and change its orientation are given; the examples demonstrate realistic changes in parallax, reflections, and occlusions. Index Terms—Nonstationary mosaicing, crossedslits projection, pushbroom camera, virtual walkthrough, imagebased rendering. 1
Stereo Reconstruction from Multiperspective Panoramas
 Proc. IEEE Int’l Conf. Computer Vision (ICCV), IEEE CS
, 1999
"... This paper presents a new approach to computing depth maps from a large collection of images where the camera motion has been constrained to planar concentric circles. We resample the resulting collection of regular perspective images into a set of multiperspective panoramas, and then compute dep ..."
Abstract

Cited by 82 (11 self)
 Add to MetaCart
(Show Context)
This paper presents a new approach to computing depth maps from a large collection of images where the camera motion has been constrained to planar concentric circles. We resample the resulting collection of regular perspective images into a set of multiperspective panoramas, and then compute depth maps directly from these resampled images. Only a small number of multiperspective panoramas is needed to obtain a dense and accurate 3D reconstruction, since our panoramas sample uniformly in three dimensions: rotation angle, inverse radial distance, and vertical elevation. Using multiperspective panoramas avoids the limited overlap between the original input images that causes problems in conventional multibaseline stereo. Our approach differs from stereo matching of panoramic images taken from different locations, where the epipolar constraints are sine curves. For our multiperspective panoramas, the epipolar geometry, to first order, consists of horizontal lines. Therefore, any traditional stereo algorithm can be applied to multiperspective panoramas without modification. Experimental results show that our approach generates good depth maps that can be used for imagebased rendering tasks such as view interpolation and extrapolation. 1
Photographing Long Scenes with MultiViewpoint Panoramas
"... We present a system for producing multiviewpoint panoramas of long, roughly planar scenes, such as the facades of buildings along a city street, from a relatively sparse set of photographs captured with a handheld still camera that is moved along the scene. Our work is a significant departure from ..."
Abstract

Cited by 78 (4 self)
 Add to MetaCart
We present a system for producing multiviewpoint panoramas of long, roughly planar scenes, such as the facades of buildings along a city street, from a relatively sparse set of photographs captured with a handheld still camera that is moved along the scene. Our work is a significant departure from previous methods for creating multiviewpoint panoramas, which composite thin vertical strips from a video sequence captured by a translating video camera, in that the resulting panoramas are composed of relatively large regions of ordinary perspective. In our system, the only user input required beyond capturing the photographs themselves is to identify the dominant plane of the photographed scene; our system then computes a panorama automatically using Markov Random Field optimization. Users may exert additional control over the appearance of the result by drawing rough strokes that indicate various highlevel goals. We demonstrate the results of our system on several scenes, including urban streets, a river bank, and a grocery store aisle.
Stereo with Oblique Cameras
, 2001
"... Mosaics acquired by pushbroom cameras, stereo panoramas, omnivergent mosaics, and spherical mosaics can be viewed as images taken by noncentral cameras, i.e. cameras that project along rays that do not all intersect at one point. It has been shown that in order to reduce the correspondence search i ..."
Abstract

Cited by 58 (3 self)
 Add to MetaCart
Mosaics acquired by pushbroom cameras, stereo panoramas, omnivergent mosaics, and spherical mosaics can be viewed as images taken by noncentral cameras, i.e. cameras that project along rays that do not all intersect at one point. It has been shown that in order to reduce the correspondence search in mosaics to a oneparametric search along curves, the rays of the noncentral cameras have to lie in double ruled epipolar surfaces. In this work, we introduce the oblique stereo geometry, which has nonintersecting double ruled epipolar surfaces. We analyze the conf igurations of mutually oblique rays that see every point in space. We call such conf igurations oblique cameras. We argue that oblique cameras are important because they are the most noncentral cameras among all cameras. We show that oblique cameras, and the corresponding oblique stereo geometry, exist and give an example of a physically realizable oblique stereo geometry.