NDLI: Fury of the Swarm: Efficient and Very Accurate Triangulation for Multi-view Scene Reconstruction

Content Provider	IEEE Xplore Digital Library
Author	Recker, S. Hess-Flores, M. Joy, K.I.
Copyright Year	2013
Description	Author affiliation: Univ. of California Davis, Davis, CA, USA (Recker, S.; Hess-Flores, M.; Joy, K.I.)
Abstract	This paper presents a novel framework for practical and accurate N-view triangulation of scene points. The algorithm is based on applying swarm optimization inside a robustly-computed bounding box, using an angular error-based $L_{1}$ cost function which is more robust to outliers and less susceptible to local minima than cost functions such as $L_{2}$ on reprojection error. Extensive testing on synthetic data with ground-truth has determined an accurate position over 99.9% of the time, on thousands of camera configurations with varying degrees of feature tracking errors. Opposed to existing polynomial methods developed for a small number of cameras, the proposed algorithm is at best linear in the number of cameras and does not suffer from inaccuracies inherent in solving high-order polynomials or Grobner bases. In the specific case of three views, there is a two to three order of magnitude performance increase with respect to such methods. Results are provided to highlight performance for arbitrary camera configurations, numbers of cameras and under noise, which has not been previously achieved in the triangulation literature. Results on real data also prove that reprojection error is improved with respect to other methods.
Starting Page	652
Ending Page	659
File Size	645891
Page Count	8
File Format	PDF
ISBN	9781479930227
DOI	10.1109/ICCVW.2013.90
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-02
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-dimensional displays Triangulation Multi-View Reconstruction Noise Cameras Cost function Polynomials Particle swarm optimization
Content Type	Text
Resource Type	Article

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