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Zheyuan Wu
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# CSE5519 Advances in Computer Vision (Topic G: 2024: Correspondence Estimation and Structure from Motion) # CSE5519 Advances in Computer Vision (Topic G: 2024: Correspondence Estimation and Structure from Motion)
## Global Structure from Motion Revisited
[link to paper](https://arxiv.org/pdf/2407.20219v1)
### Novelty in Global Structure from Motion Revisited
1. Start with Quality matches
- Use only geometrically verified
2. Match verification strategy
- Homography
- Essential Matrix
- Fundamental Matrix
3. Filtering Bad Matches
- Cheirality test: Remove points behind the camera
- Epipolar proximity: Remove the matches near the epipole (unstable)
- Triangulation angle: Remove matches with small viewing angles (pool estimation for depth)
4. Track Assembly
- Concatenate remaining matches across all image pairs
- Form continuous tracks of the same 3D point visible in multiple views
> [!TIP]
>
> Compared with the COLMAP, the Global Structure from Motion Revisited is more robust to the noise and the outliers but less robust to repeated patterns. I wonder how this problem is resolved in normal COLMAP pipeline.