计算机视觉15-7.2-structure-from-motion-IIPPT课件.ppt

Multi-frame Structure from Motion;Issues in SFM;Track lifetime;Track lifetime;Track lifetime;Nonlinear lens distortion;Nonlinear lens distortion;Prior knowledge and scene constraints;Prior knowledge and scene constraints;Factorization;Problem statement;Notations;Structure from motion;SFM under orthographic projection;factorization (Tomasi Kanade);;Metric constraints;Factorization with noisy data;Results;Results;Extensions;Perspective and Perspective Factorization;Perspective and Perspective Factorization;Bundle Adjustment;Bundle Adjustment;Bundle Adjustment;Bundle Adjustment;Bundle Adjustment;Lots of parameters: sparsity;Sparse Cholesky (skyline);Conditioning and gauge freedom;Robust error models;RANdom SAmple Consensus;Correspondences