An Iterative Solution for the Structure from Motion Problem Resolution
A. El-Attar, H.Tairi, M. Karim
Journal of Information & Systems Management, Vol. 3, No. 3, 2012.
DOI: 
Link: http://www.dline.info/jism/fulltext/v2n3/4.pdf
Abstract:
This paper presents a robust algorithm for the Structure From Motion (SFM) problem resolution using a stepby- step non-linear optimization scheme. The proposed algorithm is composed by two main parts. In the first part a projective reconstruction is computed. Here, the reconstruction is initialized based on the epipolar geometry of the scene and then refined using a robust non-linear optimization. To upgrade the reconstruction to a metric one, the second part of the algorithm consists on computing the camera intrinsic parameters. To deal with the drawback of computing all intrinsic parameters at once and avoid the possibility of converging to a local minimum, the matrix of camera intrinsic parameters is firstly initialized and then each parameter is estimated alone in a multi-stage scheme. Once computed, the intrinsic parameters are introduced in a state-of-the-art Multi-View Stereo (MVS) to generate the dense 3D model of the scene. MVS methods take images with camera internal parameters as input and produce dense 3D models with accuracy nearly on par with laser scanners.