Robust camera location estimation by convex programming

Onur Özyeşil, Amit Singer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

60 Scopus citations

Abstract

3D structure recovery from a collection of 2D images requires the estimation of the camera locations and orientations, i.e. the camera motion. For large, irregular collections of images, existing methods for the location estimation part, which can be formulated as the inverse problem of estimating n locations t1, t2,..., tn in ℝ3 from noisy measurements of a subset of the pairwise directions ti-tj/||ti-tj||, are sensitive to outliers in direction measurements. In this paper, we firstly provide a complete characterization of well-posed instances of the location estimation problem, by presenting its relation to the existing theory of parallel rigidity. For robust estimation of camera locations, we introduce a two-step approach, comprised of a pairwise direction estimation method robust to outliers in point correspondences between image pairs, and a convex program to maintain robustness to outlier directions. In the presence of partially corrupted measurements, we empirically demonstrate that our convex formulation can even recover the locations exactly. Lastly, we demonstrate the utility of our formulations through experiments on Internet photo collections.

Original languageEnglish (US)
Title of host publicationIEEE Conference on Computer Vision and Pattern Recognition, CVPR 2015
PublisherIEEE Computer Society
Pages2674-2683
Number of pages10
ISBN (Electronic)9781467369640
DOIs
StatePublished - Oct 14 2015
EventIEEE Conference on Computer Vision and Pattern Recognition, CVPR 2015 - Boston, United States
Duration: Jun 7 2015Jun 12 2015

Publication series

NameProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Volume07-12-June-2015
ISSN (Print)1063-6919

Other

OtherIEEE Conference on Computer Vision and Pattern Recognition, CVPR 2015
CountryUnited States
CityBoston
Period6/7/156/12/15

All Science Journal Classification (ASJC) codes

  • Software
  • Computer Vision and Pattern Recognition

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