Towards large-scale visual mapping and localization

Springer Tracts in Advanced Robotics

Volumn 70, Issue STAR, 2011, Pages 535-555

  Pollefeys, Marc ^a   Frahm, Jan Michael ^b   Fraundorfer, Friedrich ^a   Zach, Christopher ^a   Wu, Changchang ^b   Clipp, Brian ^b   Gallup, David ^b  

^a ETH ZURICH   (Switzerland)

^b University of North Carolina   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

3-D MAPPING; 3D MODELS; CLOSE LOOP; COMPUTATIONAL POWER; GRAPHICS PROCESSOR; HIERARCHICAL MATCHING; INERTIAL SENSOR; MAPPING AND LOCALIZATION; MAPPING PROCESS; MULTI-CAMERA CALIBRATION; MULTI-STAGE PROCESSING; PC HARDWARE; RECENT PROGRESS; RELATIVE POSE; REPETITIVE STRUCTURE; SCALE ESTIMATION; SIFT FEATURE; VIDEO DATA; VIDEO SEQUENCES; VIDEO STREAMS; VISUAL MAP; VISUAL MAPPING; WORK-RELATED;

CAMERAS; COMPUTER HARDWARE DESCRIPTION LANGUAGES; MAPPING; MOBILE TELECOMMUNICATION SYSTEMS; PIPELINE PROCESSING SYSTEMS; ROBOTICS; VIDEO RECORDING;

THREE DIMENSIONAL;

EID: 79957985845     PISSN: 16107438     EISSN: 1610742X     Source Type: Book Series    
DOI: 10.1007/978-3-642-19457-3_32     Document Type: Conference Paper

References (61)

1. Agarwal, S., Snavely, N., Simon, I., Seitz, S., Szeliski, R.: Building Rome in a Day. In: Proc. Int. Conf. on Computer Vision (2009)
2. Angst, R., Pollefeys, M.: Static Multi-Camera Factorization Using RigidMotion. In: Int. Conf. on Computer Vision (2009)
3. Caspi, Y., Irani, M.: Aligning Non-Overlapping Sequences. Int. J. of Computer Vision 48(1), 39-51 (2002)
4. Clipp, B., Frahm, J.-M., Pollefeys, M., Kim, J.-H., Hartley, R.: Robust 6DOF Motion Estimation for Non-Overlapping Multi-Camera Systems. In: Proc. IEEE Workshop on Applications of Computer Vision (WACV 2008), 8 p. (2008)
5. Clipp, B., Raguram, R., Frahm, J.-M., Welch, G., Pollefeys, M.: A Mobile 3D City Reconstruction System. In: IEEE Virtual Reality Workshop on Virtual Cityscapes (2008)
6. Clipp, B., Zach, C., Frahm, J.-M., Pollefeys,M.: A New Minimal Solution to the Relative Pose of a Calibrated Stereo Camera with Small Field of View Overlap. In: Proc. Int. Conf. on Computer Vision, 8 p. (2009)
7. Clipp, B., Zach, C., Lim, J., Frahm, J.-M., Pollefeys, M.: Adaptive, Real-Time Visual Simultaneous Localization and Mapping. In: Proc. IEEE Workshop on Applications of Computer Vision, WACV 2009 (2009)
8. Cornelis, N., Cornelis, K., Van Gool, L.: Fast Compact City Modeling for Navigation Pre-Visualization. In: Proc. CVPR 2006 IEEE Conf. on Computer Vision and Pattern Recognition, vol. 2, pp. 1339-1344 (2006)
9. Cummins, M., Newman, P.: FAB-MAP: Probabilistic Localisation and Mapping in the Space of Appearance. Int. J. of Robotics Research (June 2008)
10. Fischler,M., Bolles, R.: Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography. Comm. of the ACM 24, 381-395 (1981)
11. Frahm, J.-M., Pollefeys, M.: RANSAC for (Quasi-)Degenereate data (QDEGSAC). In: Proc. CVPR 2006 IEEE Conf. on Computer Vision and Pattern Recognition (2006)
12. Fraundorfer, F., Frahm, J.-M., Pollefeys, M.: Visual Word based Location Recognition in 3D models using Distance Augmented Weighting. In: Proc. 3DPVT 2008 Int. Symp. on 3D Data Processing, Visualization and Transmission (2008)
13. Früh, C., Zakhor, A.: An Automated Method for Large-Scale, Ground-Based City Model Acquisition. Int. J. of Computer Vision 60(1), 5-24 (2004)
14. Gallup, D., Frahm, J.-M., Mordohai, P., Yang, Q., Pollefeys, M.: Real-Time Plane-sweeping Stereo with Multiple Sweeping Directions. In: Proc. CVPR 2007, IEEE Conf. on Computer Vision and Pattern Recognition (2007)
15. Gallup, D., Frahm, J.-M., Mordohai, P., Pollefeys, M.: Variable Baseline/Resolution Stereo. In: Proc. CVPR 2008, IEEE Conf. on Computer Vision and Pattern Recognition (2008)
16. Gillespie, T.: Fundamentals of Vehicle Dynamics. SAE, Inc., Warrendale (1992)
17. Haralick, R., Lee, C.-N., Ottenberg, K., Nolle, M.: Review and Analysis of Solutions of the Three Point Perspective Pose Estimation Problem. Int. J. of Computer Vision 13(3), 331-356 (1994)
18. Hartley, R., Sturm, P.: Triangulation. Computer Vision and Image Understanding (CVIU) 68(2), 146-157 (1997)
19. Irschara, A., Zach, C., Frahm, J.-M., Bischof, H.: 3D Scene Summarization for Efficient View Registration. In: Proc. CVPR 2009, IEEE Conf. on Computer Vision and Pattern Recognition (2009)
20. Kim, J.-H., Hartley, R., Frahm, J.-M., Pollefeys, M.: Visual Odometry for Non-Overlapping Views Using Second-Order Cone Programming. In: Yagi, Y., Kang, S.B., Kweon, I.S., Zha, H. (eds.) ACCV 2007, Part II. LNCS, vol. 4844, pp. 353-362. Springer, Heidelberg (2007)
21. Kim, S.J., Gallup, D., Frahm, J.-M., Akbarzadeh, A., Yang, Q., Yang, R., Nister, D., Pollefeys, M.: Gain Adaptive Real-Time Stereo Streaming. In: Proc. Int. Conf. on Computer Vision Systems (2007)
22. Kim, S.-J., Frahm, J.-M., Pollefeys,M.: Joint Feature Tracking and Radiometric Calibration from Auto-Exposure Video. In: Proc. ICCV 2007, Int. Conf. on Computer Vision (2007)
23. Kim, S.J., Pollefeys, M.: Robust Radiometric Calibration and Vignetting Correction. IEEE Trans. on Pattern Analysis and Machine Intelligence 30(4), 562-576 (2008)
24. Kumar, R.K., Ilie, A., Frahm, J.-M., Pollefeys,M.: Simple calibration of non-overlapping cameras with a mirror. In: Proc. CVPR 2008, IEEE Int. Conf. on Computer Vision and Pattern Recognition (2008)
25. Li, X.,Wu, C., Zach, C., Lazebnik, S., Frahm, J.-M.:Modeling and Recognition of Landmark Image Collections Using Iconic Scene Graphs. In: Forsyth, D., Torr, P., Zisserman, A. (eds.) ECCV 2008, Part I. LNCS, vol. 5302, pp. 427-440. Springer, Heidelberg (2008)
26. Lowe, D.: Distinctive image features from scale-invariant keypoints. Int. J. of Computer Vision 60(2), 91-110 (2004)
27. Merrell, P., Mordohai, P., Frahm, J.M., Pollefeys, M.: Evaluation of Large Scale Scene Reconstruction. In: Proc. Workshop on Virtual Representations and Modeling of Largescale environments, VRML 2007 (2007)
28. Merrell, P., Akbarzadeh, A., Wang, L., Mordohai, P., Frahm, J.-M., Yang, R., Nister, D., Pollefeys, M.: Fast Visibility-Based Fusion of Depth Maps. In: Proc. ICCV 2007, Int. Conf. on Computer Vision (2007)
29. Mikolajczyk, K., Tuytelaars, T., Schmid, C., Zisserman, A., Matas, J., Schaffalitzky, F., Kadir, T., Van Gool, L.: A comparison of affine region detectors. Int. J. of Computer Vision 65(1/2), 43-72 (2005)
30. Nister, D.: An efficient solution to the five-point relative pose problem. IEEE Trans. on Pattern Analysis and Machine Intelligence 26(6), 756-777 (2004)
31. Nister, D., Naroditsky, O., Bergen, J.: Visual odometry for ground vehicle applications. J. of Field Robotics 23(1) (2006)
32. Nister, D., Stewenius, H.: Scalable recognition with a vocabulary tree. In: Proc. CVPR 2006, IEEE Conf. on Computer Vision and Pattern Recognition, vol. 2, pp. 2161-2168 (2006)
33. Pajarola, R.: Overview of quadtree-based terrain triangulation and visualization. Tech. Report UCI-ICS-02-01, Information & Computer Science, University of California Irvine (2002)
34. Pollefeys, M., Koch, R., Van Gool, L.: Self-Calibration and Metric Reconstruction in spite of Varying and Unknown Internal Camera Parameters. Int. J. of Computer Vision 32(1), 7-25 (1999)
35. Pollefeys, M., Van Gool, L., Vergauwen, M., Verbiest, F., Cornelis, K., Tops, J., Koch, R.: Visual modeling with a hand-held camera. Int. J. of Computer Vision 59(3), 207-232 (2004)
36. Pollefeys, M., Nister, D., Frahm, J.-M., Akbarzadeh, A., Mordohai, P., Clipp, B., Engels, C., Gallup, D., Kim, S.-J., Merrell, P., Salmi, C., Sinha, S., Talton, B., Wang, L., Yang, Q., Stewenius, H., Yang, R.,Welch, G., Towles, H.: Detailed Real-Time Urban 3D Reconstruction From Video. Int. J. of Computer Vision 78(2), 143-167 (2008)
37. Raguram, R., Frahm, J.-M., Pollefeys, M.: A Comparative Analysis of RANSAC Techniques Leading to Adaptive Real-Time Random Sample Consensus. In: Forsyth, D., Torr, P., Zisserman, A. (eds.) ECCV 2008, Part II. LNCS, vol. 5303, pp. 500-513. Springer, Heidelberg (2008)
38. Raguram, R., Frahm, J.-M., Pollefeys, M.: Exploiting Uncertainty in Random Sample Consensus. In: Proc. ICCV 2009, Int. Conf. on Computer Vision (2009)
39. Scaramuzza, D., Fraundorfer, F., Pollefeys, M., Siegwart, R.: Closing the Loop in Appearance-Guided Structure-from-Motion for Omnidirectional Cameras. In: Proc. Eight Workshop on Omnidirectional Vision, ECCV (2008)
40. Scaramuzza, D., Fraundorfer, F., Pollefeys, M., Siegwart, R.: Absolute Scale in Structure from Motion from a Single Vehicle Mounted Camera by Exploiting Nonholonomic Constraints. In: Proc. ICCV 2009, Int. Conf. on Computer Vision (2009)
41. Shi, J., Tomasi, C.: Good Features to Track. In: CVPR 1994, IEEE Conf. on Computer Vision and Pattern Recognition, pp. 593-600 (1994)
42. Sinha, S., Mordohai, P., Pollefeys, M.: Multi-View Stereo via Graph Cuts on the Dual of an Adaptive Tetrahedral Mesh. In: Proc. ICCV 2007, Int. Conf. on Computer Vision (2007)
43. Sinha, S., Frahm, J.-M., Pollefeys,M., Genc, Y.: Feature Tracking and Matching in Video Using Programmable Graphics Hardware. Machine Vision and Application (November 2009) (online)
44. Sinha, S., Steedly, D., Szeliski, R., Agrawala, M., Pollefeys, M.: Interactive 3D Architectural Modeling from Unordered Photo Collections. ACM Trans. on Graphics (SIGGRAPH ASIA 2008) 27(5), 159, 1-10 (2008)
45. Snavely, N., Seitz, S., Szeliski, R.: Photo Tourism: Exploring image collections in 3D. In: Proc. of SIGGRAPH 2006 (2006)
46. Thirthala, S., Pollefeys, M.: The Radial Trifocal Tensor: A Tool for Calibrating Radial Disortion of Wide-Angle Cameras. In: Proc. CVPR 2005, IEEE Conf. on Computer Vision and Pattern Recognition, vol. 1, pp. 321-328 (2005)
47. Thirthala, S., Pollefeys, M.: Multi-view geometry of 1D radial cameras and its application to omnidirectional camera calibration. In: Proc. ICCV 2005, Int. Conf. on Computer Vision, vol. 2, pp. 1539-1546 (2005)
48. Tomasi, C., Kanade, T.: Shape and motion from image streams under orthography - a factorization method. Int. J. of Computer Vision 9(2), 137-154 (1992)
49. Triggs, B., McLauchlan, P., Hartley, R., Fitzgibbon, A.: Bundle Adjustment - A Modern Synthesis. In: Triggs, B., Zisserman, A., Szeliski, R. (eds.) ICCV-WS 1999. LNCS, vol. 1883, pp. 298-372. Springer, Heidelberg (2000)
50. Tsai, R.Y.: A versatile camera calibration technique for high accuracy 3D machine vision metrology using off-the-shelf tv cameras and lenses. IEEE J. for Robotics and Automation 3, 323-344 (1987)
51. Wu, C., Clipp, B., Li, X., Frahm, J.-M., Pollefeys, M.: 3D Model Matching with Viewpoint Invariant Patches (VIPs). In: Proc. CVPR 2008, IEEE Conf. on Computer Vision and Pattern Recognition (2008)
52. Wu, C., Fraundorfer, F., Frahm, J.-M., Pollefeys, M.: 3D Model Search and Pose Estimation from Single Images using VIP Features. In: Proc. S3D Workshop, CVPR 2008 (2008)
53. Wu, C.: Open Source SIFTGPU, http://www.cs.unc.edu/~ccwu/siftgpu/
54. Xiao, J., Fang, T., Zhao, P., Lhuillier, M., Quan, L.: Image-Based Street-Side City Modeling. ACM Trans. on Graphics, SIGGRAPH ASIA (2009)
55. Yang, R., Pollefeys, M.: Multi-Resolution Real-Time Stereo on Commodity Graphics Hardware. In: Proc. CVPR 2003, IEEE Conf. on Computer Vision and Pattern Recognition, pp. 211-218 (2003)
56. Yang, R., Pollefeys,M.,Welch, G.: Dealing with Textureless Regions and Specular Highlight: A Progressive Space Carving Scheme Using a Novel Photo-consistency Measure. In: Proc. ICCV 2003, Int. Conf. on Computer Vision, pp. 576-584 (2003)
57. Yang, R., Pollefeys, M.: A Versatile Stereo Implementation on Commodity Graphics Hardware. J. of Real-Time Imaging 11(1), 7-18 (2005)
58. Zach, C., Pock, T., Bischof, H.: A globally optimal algorithm for robust TV-L1 range image integration. In: Proc. ICCV 2007, IEEE Int. Conf. on Computer Vision (2007)
59. Zach, C., Gallup, D., Frahm, J.-M.: Fast Gain-Adaptive KLT Tracking on the GPU. In: CVPR Workshop on Visual Computer Vision on GPU's, CVGPU (2008)
60. Zach, C.: Open Source Code for GPU-based KLT Feature Tracker and Sparse Bundle Adjustment, http://www.cs.unc.edu/~cmzach/opensource.html
61. Zhang, Z.: A flexible new technique for camera calibration. IEEE Trans. on Pattern Analysis and Machine Intelligence, 1330-1334 (2000)