The camera registration extracted from feature based stereo is usually considered sufficient to accurately localize the 3D points. However, for natural scenes the feature localization is not as precise as in man-made environments. This results in small camera registration errors. We show that even very small registration errors result in large errors in dense surface reconstruction. We describe a method for registering entire images to the inaccurate surface model. This gives small, but crucially important improvements to the camera parameters. The new registration gives dramatically between dense surface reconstruction.
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