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Structure From Motion on XSlit Cameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
|December 5, 2019
Summary
This study introduces a novel structure-from-motion framework using cross-slit (XSlit) cameras. This method overcomes scale ambiguity in 3D reconstruction, enabling accurate absolute scale measurements.
Area of Science:
- Computer Vision
- Robotics
- 3D Reconstruction
Background:
- Traditional structure-from-motion (SfM) methods using pinhole cameras face inherent scale ambiguity.
- This limitation hinders accurate 3D reconstruction at an absolute scale.
Purpose of the Study:
- To develop a novel SfM framework utilizing cross-slit (XSlit) cameras.
- To resolve the scale ambiguity issue in 3D reconstruction.
Main Methods:
- Developed tailored feature matching, camera pose estimation, and bundle adjustment techniques for XSlit cameras.
- Introduced a SIFT feature variant with non-uniform Gaussian kernels for distorted XSlit images.
- Proposed a 14-point algorithm to address XSlit-specific pose estimation ambiguities.
Main Results:
- Demonstrated that XSlit camera geometry inherently resolves scale ambiguity in SfM.
- Achieved reliable and high-fidelity 3D reconstruction at an absolute scale.
- Validated the framework with synthetic and real-world experiments.
Conclusions:
- The proposed XSlit SfM framework provides a robust solution for accurate 3D reconstruction.
- This approach overcomes limitations of traditional SfM, enabling absolute scale determination.
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