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2007
IEEE

Moving Forward in Structure From Motion

11 years 6 months ago
Moving Forward in Structure From Motion
It is well-known that forward motion induces a large number of local minima in the instantaneous least-squares reprojection error. This is caused in part by singularities in the error landscape around the forward direction, and presents a challenge in using existing algorithms for structure-from-motion in autonomous navigation applications. In this paper we prove that imposing a bound on the reconstructed depth of the scene makes the least-squares reprojection error continuous. This has implications for autonomous navigation, as it suggests simple modifications for existing algorithms to minimize the effects of local minima in forward translation.
Andrea Vedaldi, Gregorio Guidi, Stefano Soatto
Added 12 Oct 2009
Updated 12 Oct 2009
Type Conference
Year 2007
Where CVPR
Authors Andrea Vedaldi, Gregorio Guidi, Stefano Soatto
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