Fury of the Swarm: Efficient and Very Accurate Triangulation for Multi-view Scene Reconstruction

@article{Recker2013FuryOT,
  title={Fury of the Swarm: Efficient and Very Accurate Triangulation for Multi-view Scene Reconstruction},
  author={Shawn Recker and Mauricio Hess-Flores and Kenneth I. Joy},
  journal={2013 IEEE International Conference on Computer Vision Workshops},
  year={2013},
  pages={652-659}
}
This paper presents a novel framework for practical and accurate N-view triangulation of scene points. The algorithm is based on applying swarm optimization inside a robustly-computed bounding box, using an angular error-based L1 cost function which is more robust to outliers and less susceptible to local minima than cost functions such as L2 on reprojection error. Extensive testing on synthetic data with ground-truth has determined an accurate position over 99.9% of the time, on thousands of… CONTINUE READING

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