Details
| Original language | English |
|---|---|
| Pages (from-to) | 107-114 |
| Number of pages | 8 |
| Journal | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Volume | 3 |
| Issue number | 3 |
| Publication status | Published - 3 Jun 2016 |
| Event | 23rd International Society for Photogrammetry and Remote Sensing Congress, ISPRS 2016 - Prague, Czech Republic Duration: 12 Jul 2016 → 19 Jul 2016 |
Abstract
In this paper we propose a novel workflow for the estimation of global image orientations given relative orientations between pairs of overlapping images. Our approach is convex and independent on initial values. First, global rotations are estimated in a relaxed semidefinite program (SDP) and refined in an iterative least squares adjustment in the tangent space of SO(3). A critical aspect is the handling of outliers in the relative orientations. We present a novel heuristic graph based approach for filtering the relative rotations that outperforms state-of-the-art robust rotation averaging algorithms. In a second part we make use of point-observations, tracked over a set of overlapping images and formulate a linear homogeneous system of equations to transfer the scale information between triplets of images, using estimated global rotations and relative translation directions. The final step consists of refining the orientation parameters in a robust bundle adjustment. The proposed approach handles outliers in the homologous points and relative orientations in every step of the processing chain. We demonstrate the robustness of the procedure on synthetic data. Moreover, the performance of our approach is illustrated on real world benchmark data.
Keywords
- image orientation, Lie algebra, pose estimation, rotation averaging, spatial intersection, structure-from-motion
ASJC Scopus subject areas
- Earth and Planetary Sciences(all)
- Earth and Planetary Sciences (miscellaneous)
- Environmental Science(all)
- Environmental Science (miscellaneous)
- Physics and Astronomy(all)
- Instrumentation
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In: ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. 3, No. 3, 03.06.2016, p. 107-114.
Research output: Contribution to journal › Conference article › Research › peer review
}
TY - JOUR
T1 - CONVEX IMAGE ORIENTATION FROM RELATIVE ORIENTATIONS
AU - Reich, M.
AU - Heipke, C.
N1 - Copyright: Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2016/6/3
Y1 - 2016/6/3
N2 - In this paper we propose a novel workflow for the estimation of global image orientations given relative orientations between pairs of overlapping images. Our approach is convex and independent on initial values. First, global rotations are estimated in a relaxed semidefinite program (SDP) and refined in an iterative least squares adjustment in the tangent space of SO(3). A critical aspect is the handling of outliers in the relative orientations. We present a novel heuristic graph based approach for filtering the relative rotations that outperforms state-of-the-art robust rotation averaging algorithms. In a second part we make use of point-observations, tracked over a set of overlapping images and formulate a linear homogeneous system of equations to transfer the scale information between triplets of images, using estimated global rotations and relative translation directions. The final step consists of refining the orientation parameters in a robust bundle adjustment. The proposed approach handles outliers in the homologous points and relative orientations in every step of the processing chain. We demonstrate the robustness of the procedure on synthetic data. Moreover, the performance of our approach is illustrated on real world benchmark data.
AB - In this paper we propose a novel workflow for the estimation of global image orientations given relative orientations between pairs of overlapping images. Our approach is convex and independent on initial values. First, global rotations are estimated in a relaxed semidefinite program (SDP) and refined in an iterative least squares adjustment in the tangent space of SO(3). A critical aspect is the handling of outliers in the relative orientations. We present a novel heuristic graph based approach for filtering the relative rotations that outperforms state-of-the-art robust rotation averaging algorithms. In a second part we make use of point-observations, tracked over a set of overlapping images and formulate a linear homogeneous system of equations to transfer the scale information between triplets of images, using estimated global rotations and relative translation directions. The final step consists of refining the orientation parameters in a robust bundle adjustment. The proposed approach handles outliers in the homologous points and relative orientations in every step of the processing chain. We demonstrate the robustness of the procedure on synthetic data. Moreover, the performance of our approach is illustrated on real world benchmark data.
KW - image orientation
KW - Lie algebra
KW - pose estimation
KW - rotation averaging
KW - spatial intersection
KW - structure-from-motion
UR - http://www.scopus.com/inward/record.url?scp=85048386693&partnerID=8YFLogxK
U2 - 10.5194/isprs-annals-III-3-107-2016
DO - 10.5194/isprs-annals-III-3-107-2016
M3 - Conference article
AN - SCOPUS:85048386693
VL - 3
SP - 107
EP - 114
JO - ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
JF - ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
SN - 2194-9042
IS - 3
T2 - 23rd International Society for Photogrammetry and Remote Sensing Congress, ISPRS 2016
Y2 - 12 July 2016 through 19 July 2016
ER -