SfM on-the-fly: Get better 3D from What You Capture
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arXiv
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| Main Authors: | , , , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866929419353849856 |
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| author | Zhan, Zongqian Yu, Yifei Xia, Rui Gan, Wentian Xie, Hong Perda, Giulio Morelli, Luca Remondino, Fabio Wang, Xin |
| author_facet | Zhan, Zongqian Yu, Yifei Xia, Rui Gan, Wentian Xie, Hong Perda, Giulio Morelli, Luca Remondino, Fabio Wang, Xin |
| contents | In the last twenty years, Structure from Motion (SfM) has been a constant research hotspot in the fields of photogrammetry, computer vision, robotics etc., whereas real-time performance is just a recent topic of growing interest. This work builds upon the original on-the-fly SfM (Zhan et al., 2024) and presents an updated version with three new advancements to get better 3D from what you capture: (i) real-time image matching is further boosted by employing the Hierarchical Navigable Small World (HNSW) graphs, thus more true positive overlapping image candidates are faster identified; (ii) a self-adaptive weighting strategy is proposed for robust hierarchical local bundle adjustment to improve the SfM results; (iii) multiple agents are included for supporting collaborative SfM and seamlessly merge multiple 3D reconstructions into a complete 3D scene when commonly registered images appear. Various comprehensive experiments demonstrate that the proposed SfM method (named on-the-fly SfMv2) can generate more complete and robust 3D reconstructions in a high time-efficient way. Code is available at http://yifeiyu225.github.io/on-the-flySfMv2.github.io/. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_03939 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | SfM on-the-fly: Get better 3D from What You Capture Zhan, Zongqian Yu, Yifei Xia, Rui Gan, Wentian Xie, Hong Perda, Giulio Morelli, Luca Remondino, Fabio Wang, Xin Computer Vision and Pattern Recognition In the last twenty years, Structure from Motion (SfM) has been a constant research hotspot in the fields of photogrammetry, computer vision, robotics etc., whereas real-time performance is just a recent topic of growing interest. This work builds upon the original on-the-fly SfM (Zhan et al., 2024) and presents an updated version with three new advancements to get better 3D from what you capture: (i) real-time image matching is further boosted by employing the Hierarchical Navigable Small World (HNSW) graphs, thus more true positive overlapping image candidates are faster identified; (ii) a self-adaptive weighting strategy is proposed for robust hierarchical local bundle adjustment to improve the SfM results; (iii) multiple agents are included for supporting collaborative SfM and seamlessly merge multiple 3D reconstructions into a complete 3D scene when commonly registered images appear. Various comprehensive experiments demonstrate that the proposed SfM method (named on-the-fly SfMv2) can generate more complete and robust 3D reconstructions in a high time-efficient way. Code is available at http://yifeiyu225.github.io/on-the-flySfMv2.github.io/. |
| title | SfM on-the-fly: Get better 3D from What You Capture |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2407.03939 |