Projectivestructurefrommotion.pptVIP

Projective structure from motion Marc Pollefeys COMP 256 Last class: Affine camera The affine projection equations are Orthographic factorization The orthographic projection equations are where Orthographic factorization Factorize m through singular value decomposition An affine reconstruction is obtained as follows Tentative class schedule Bundle adjustment - refining structure and motion Minimize reprojection error Maximum Likelyhood Estimation (if error zero-mean Gaussian noise) Huge problem but can be solved efficiently (exploit sparseness) Bundle adjustment Developed in photogr