25 lines
1.0 KiB
Markdown
25 lines
1.0 KiB
Markdown
# CSE5519 Advances in Computer Vision (Topic G: 2024: Correspondence Estimation and Structure from Motion)
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## Global Structure from Motion Revisited
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[link to paper](https://arxiv.org/pdf/2407.20219v1)
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### Novelty in Global Structure from Motion Revisited
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1. Start with Quality matches
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- Use only geometrically verified
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2. Match verification strategy
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- Homography
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- Essential Matrix
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- Fundamental Matrix
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3. Filtering Bad Matches
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- Cheirality test: Remove points behind the camera
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- Epipolar proximity: Remove the matches near the epipole (unstable)
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- Triangulation angle: Remove matches with small viewing angles (pool estimation for depth)
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4. Track Assembly
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- Concatenate remaining matches across all image pairs
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- Form continuous tracks of the same 3D point visible in multiple views
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> [!TIP]
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>
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> 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. |