DocumentCode :
1064325
Title :
Drift detection and removal for sequential structure from motion algorithms
Author :
Cornelis, Kurt ; Verbiest, Frank ; Van Gool, Luc
Author_Institution :
Katholieke Univ., Leuven, Belgium
Volume :
26
Issue :
10
fYear :
2004
Firstpage :
1249
Lastpage :
1259
Abstract :
In sequential Structure from Motion algorithms for extended image or video sequences, error build up caused by drift poses a problem as feature tracks that normally represent a single scene point will have distinct 3D reconstructions. For the final bundle adjustment to remove this drift, it must be told about these 3D-3D correspondences through a change in the cost function. However, as a bundle adjustment is a nonlinear optimization technique, the drift needs to be removed from the supplied initial solution to allow for convergence of the bundle adjustment to the real global optimum. Before drift can be removed, it has to be detected. This is accomplished through understanding of the long term behavior of drift which leaves 3D reconstructions from short sequences intact. Drift detection boils down to identifying reconstructions of the same scene part that only differ up to a projective transformation. After detection, the drift can be removed from future processed images and an Adapted Bundle Adjustment using correspondences supplied by the drift detection can remove the drift from previous images. Several experiments on real video sequences demonstrate the merit of drift detection and removal.
Keywords :
convergence; feature extraction; image motion analysis; image reconstruction; image registration; image sequences; optimisation; video signal processing; 3D reconstructions; 3D-3D correspondences; adapted bundle adjustment; convergence; cost function; drift detection; drift removal; feature tracks; image registration; image sequences; motion algorithms; nonlinear optimization technique; sequential structure; video sequences; Cameras; Change detection algorithms; Cost function; Helium; Image reconstruction; Layout; Minimization methods; Motion detection; Tracking; Video sequences; Index Terms- Geometric correction; registration.; Algorithms; Artifacts; Artificial Intelligence; Cluster Analysis; Image Enhancement; Image Interpretation, Computer-Assisted; Imaging, Three-Dimensional; Information Storage and Retrieval; Movement; Numerical Analysis, Computer-Assisted; Pattern Recognition, Automated; Reproducibility of Results; Sensitivity and Specificity; Signal Processing, Computer-Assisted; Subtraction Technique; Video Recording;
fLanguage :
English
Journal_Title :
Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publisher :
ieee
ISSN :
0162-8828
Type :
jour
DOI :
10.1109/TPAMI.2004.85
Filename :
1323794
Link To Document :
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