Robust and efficient object reconstructions from closed loop sequences

摘要

We propose a new hierarchical structure from motion system for close loop sequences. Our system includes a novel approach for clustering cameras into multiple sets, whose camera poses are initially reconstructed separately and later globally registered w.r.t a single coordinate frame. Each of the multiple sets is robustly reconstructed by a novel guarded least median square protocol. Our method is accelerated by reducing the parameter space of bundle adjustment in the local reconstruction optimizations. We also propose a new synthetic dataset that could be useful in 3D object reconstruction problems. Extensive experiments with both synthetic and real data were carried out to validate our method. Our system presented better results than ACTS and GPE in terms of rotation and translation errors in the camera pose estimations, and the accuracy is quite close to COLMAP while our method is much faster.