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Moving Forward in Structure From Motion
Vedaldi, A.; Guidi, G.; Soatto, S.;
Computer Vision and Pattern Recognition, 2007. CVPR '07. IEEE Conference on
17-22 June 2007
Page(s):1
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7
Abstract:
It is well-known that forward motion induces a large number of local minima in the instantaneous least-squares reprojection error. This is caused in part by singularities in the error landscape around the forward direction, and presents a challenge in using existing algorithms for structure-from-motion in autonomous navigation applications. In this paper we prove that imposing a bound on the reconstructed depth of the scene makes the least-squares re-projection error continuous. This has implications for autonomous navigation, as it suggests simple modifications for existing algorithms to minimize the effects of local minima in forward translation.
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