FastMap: Revisiting Structure from Motion through First-Order Optimization
Fuente:
arXiv
Saved in:
| Main Authors: | , , , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866911112930263040 |
|---|---|
| author | Li, Jiahao Wang, Haochen Irshad, Muhammad Zubair Vasiljevic, Igor Walter, Matthew R. Guizilini, Vitor Campagnolo Shakhnarovich, Greg |
| author_facet | Li, Jiahao Wang, Haochen Irshad, Muhammad Zubair Vasiljevic, Igor Walter, Matthew R. Guizilini, Vitor Campagnolo Shakhnarovich, Greg |
| contents | We propose FastMap, a new global structure from motion method focused on speed and simplicity. Previous methods like COLMAP and GLOMAP are able to estimate high-precision camera poses, but suffer from poor scalability when the number of matched keypoint pairs becomes large, mainly due to the time-consuming process of second-order Gauss-Newton optimization. Instead, we design our method solely based on first-order optimizers. To obtain maximal speedup, we identify and eliminate two key performance bottlenecks: computational complexity and the kernel implementation of each optimization step. Through extensive experiments, we show that FastMap is up to 10 times faster than COLMAP and GLOMAP with GPU acceleration and achieves comparable pose accuracy. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_04612 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | FastMap: Revisiting Structure from Motion through First-Order Optimization Li, Jiahao Wang, Haochen Irshad, Muhammad Zubair Vasiljevic, Igor Walter, Matthew R. Guizilini, Vitor Campagnolo Shakhnarovich, Greg Computer Vision and Pattern Recognition We propose FastMap, a new global structure from motion method focused on speed and simplicity. Previous methods like COLMAP and GLOMAP are able to estimate high-precision camera poses, but suffer from poor scalability when the number of matched keypoint pairs becomes large, mainly due to the time-consuming process of second-order Gauss-Newton optimization. Instead, we design our method solely based on first-order optimizers. To obtain maximal speedup, we identify and eliminate two key performance bottlenecks: computational complexity and the kernel implementation of each optimization step. Through extensive experiments, we show that FastMap is up to 10 times faster than COLMAP and GLOMAP with GPU acceleration and achieves comparable pose accuracy. |
| title | FastMap: Revisiting Structure from Motion through First-Order Optimization |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2505.04612 |