Pixel-Perfect Structure-from-Motion with Featuremetric Refinement

@article{Lindenberger2021PixelPerfectSW,
  title={Pixel-Perfect Structure-from-Motion with Featuremetric Refinement},
  author={Philipp Lindenberger and Paul-Edouard Sarlin and Viktor Larsson and Marc Pollefeys},
  journal={2021 IEEE/CVF International Conference on Computer Vision (ICCV)},
  year={2021},
  pages={5967-5977}
}
Finding local features that are repeatable across multiple views is a cornerstone of sparse 3D reconstruction. The classical image matching paradigm detects keypoints per-image once and for all, which can yield poorly-localized features and propagate large errors to the final geometry. In this paper, we refine two key steps of structure-from-motion by a direct alignment of low-level image information from multiple views: we first adjust the initial keypoint locations prior to any geometric… 
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