Correcting for Duplicate Scene Structure in Sparse 3D Reconstruction

摘要

Structure from motion (SfM) is a common technique to recover 3D geometry and camera poses from sets of images of a common scene. In many urban environments, however, there are symmetric, repetitive, or duplicate structures that pose challenges for SfM pipelines. The result of these ambiguous structures is incorrectly placed cameras and points within the reconstruction. In this paper, we present a postprocessing method that can not only detect these errors, but successfully resolve them. Our novel approach proposes the strong and informative measure of conflicting observations, and we demonstrate that it is robust to a large variety of scenes.