| Title: | Covariance Propagation and Next Best View Planning for 3D Reconstruction |
| Authors: | Haner, Sebastian and Heyden, Anders |
| Year: | 2012 |
| Document Type: | Conference Paper |
| Conference: | SSBA |
| Conference location: | Stockholm |
| Status: | Published |
| Refereed: | No |
| Keywords: | vronlineslam SLAM next best view planning structure from motion |
| BibTeX item: |  |
| Abstract: | This paper examines the potential benefits of applying next best view planning to sequential 3D reconstruction from unordered image sequences. A standard sequential structure-and-motion pipeline is extended with active selection of the order in which cameras are resectioned. To this end, approximate covariance propagation is implemented throughout the system, providing running estimates of the uncertainties of the reconstruction, while also enhancing robustness and accuracy. Experiments show that the use of expensive global bundle adjustment can be reduced throughout the process, while the additional cost of propagation is essentially linear in the problem size. |
Similar Publications
- Licentiate's thesis:
Efficient Structure and Motion: Path Planning, Uncertainty and Sparsity
Sebastian Haner - Conference paper:
Optimal View Path Planning for Visual SLAM
Sebastian Haner
Anders Heyden - Journal paper:
Affine Reconstruction from Translational Motion under Various Autocalibration Constraints
Pär Hammarstedt
Fredrik Kahl
Anders Heyden
Questions: webmaster
Last updated: 2013-06-04
Centre for Mathematical Sciences, Box 118, SE-22100, Lund. Phone: 046-222 00 00