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Video Registration to SfM Models Till Kroeger1 and Luc Van Gool1,2 1 Computer Vision Laboratory, ETH Zurich, Switzerland 2 ESAT - PSI / IBBT, K.U. Leuven, Belgium {kroegert,Bvangool}@vision.ee.ethz.ch Abstract. Registering image data to Structure from Motion (SfM) point clouds is widely used to find precise camera location and orien- tation with respect to a world model. In case of videos one constraint has previously been unexploited: temporal smoothness. Without tem- poral smoothness the magnitude of the pose error in each frame of a video will often dominate the magnitude of frame-to-frame pose change. This hinders application of methods requiring stable poses estimates (e.g. tracking, augmented reality). We incorporate temporal constraints into the image-based registration setting and solve the problem by pose reg- ularization with model fitting and smoothing methods. This leads to accurate, gap-free and smooth poses for all frames. We evaluate differ- ent methods on challenging synthetic and real street-view SfM data for varying scenarios of motion speed, outlier contamination, pose estima- tion failures and 2D-3D correspondence noise. For all test cases a 2 to 60-fold reduction in root mean squared (RMS) positional error is ob- served, depending on pose estimation difficulty. For varying scenarios, different methods perform best. We give guidance which methods should be preferred depending on circumstances and requirements. 1 Introduction Due to recent advances in 3D range imaging highly accurate and large 3D mod- els for real-world environments can easil