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The wide-baseline stereo problem, i.e. the problem of establishing correspondences between a pair of images taken from different viewpoints is studied. A new set of image elements that are put into correspondence, the so called extremal regions, is introduced. Extremal regions possess highly desirable properties: the set is closed under 1. continuous (and(More)
We tackle the problem of large scale visual place recognition, where the task is to quickly and accurately recognize the location of a given query photograph. We present the following three principal contributions. First, we develop a convolutional neural network (CNN) architecture that is trainable in an end-to-end manner directly for the place recognition(More)
It is known that the problem of multiview reconstruction can be solved in two steps: first estimate camera rotations and then translations using them. This paper presents new robust techniques for both of these steps, (i) Given pair-wise relative rotations, global camera rotations are estimated linearly in least squares, (ii) Camera translations are(More)
We propose a novel method for the multi-view reconstruction problem. Surfaces which do not have direct support in the input 3D point cloud and hence need not be photo-consistent but represent real parts of the scene (e.g. low-textured walls, windows, cars) are important for achieving complete reconstructions. We augmented the existing Labatut CGF 2009(More)
We generalize the method of simultaneous linear estimation of multiple view geometry and lens distortion, introduced by Fitzgibbon at CVPR 2001 [6], to an omnidirectional (angle of view larger than 180 •) camera. The perspective camera is replaced by a linear camera with a spherical retina and a non-linear mapping of the sphere into the image plane. Unlike(More)
We analyze Kinect as a 3D measuring device, experimentally investigate depth measurement resolution and error properties and make a quantitative comparison of Kinect accuracy with stereo reconstruction from SLR cameras and a 3D-TOF camera. We propose Kinect geometrical model and its calibration procedure providing an accurate calibration of Kinect 3D(More)
Repeated structures such as building facades, fences or road markings often represent a significant challenge for place recognition. Repeated structures are notoriously hard for establishing correspondences using multi-view geometry. They violate the feature independence assumed in the bag-of-visual-words representation which often leads to over-counting(More)
Mosaics acquired by pushbroom cameras, stereo panoramas, omnivergent mosaics, and spherical mosaics can be viewed as images taken by non-central cameras, i.e. cameras that project along rays that do not all intersect at one point. It has been shown that in order to reduce the correspondence search in mosaics to a one-parametric search along curves, the rays(More)