VIO-Aided Structure from Motion Under Challenging Environments

• URL: http://arxiv.org/abs/2101.09657v2
• Date: Tue, 26 Jan 2021 11:40:47 GMT
• Title: VIO-Aided Structure from Motion Under Challenging Environments
• Authors: Zijie Jiang, Hajime Taira, Naoyuki Miyashita, Masatoshi Okutomi
• Abstract summary: We present a robust and efficient Structure from Motion pipeline for accurate 3D reconstruction under challenging environments. Specifically, we propose a geometric verification method to filter out mismatches by considering the prior geometric configuration of candidate image pairs.
• Score: 12.111638631118026
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: In this paper, we present a robust and efficient Structure from Motion pipeline for accurate 3D reconstruction under challenging environments by leveraging the camera pose information from a visual-inertial odometry. Specifically, we propose a geometric verification method to filter out mismatches by considering the prior geometric configuration of candidate image pairs. Furthermore, we introduce an efficient and scalable reconstruction approach that relies on batched image registration and robust bundle adjustment, both leveraging the reliable local odometry estimation. Extensive experimental results show that our pipeline performs better than the state-of-the-art SfM approaches in terms of reconstruction accuracy and robustness for challenging sequential image collections.

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