Accurate Scale Factor Estimation in 3D Reconstruction

Lourakis, Manolis; Zabulis, Xenophon

doi:10.1007/978-3-642-40261-6_60

Cited by 17 publications

(11 citation statements)

References 18 publications

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“…Depending on the approach used, the 3-D model can be in the form of an unordered set of points (i.e., point cloud) and their image descriptors, a wireframe, or a polygon mesh. Use of a properly scaled model helps to resolve the well-known depth/scale ambiguity [25]. Monocular approaches infer pose by matching features detected in an image with the model.…”

Section: A Monocular Approachesmentioning

confidence: 99%

High-Performance Embedded Computing in Space: Evaluation of Platforms for Vision-Based Navigation

Lentaris¹,

Maragos²,

Stratakos³

et al. 2018

Journal of Aerospace Information Systems

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Vision-based navigation has become increasingly important in a variety of space applications for enhancing autonomy and dependability. Future missions, such as active debris removal for remediating the low Earth orbit environment, will rely on novel high-performance avionics to support advanced image processing algorithms with substantial workloads. However, when designing new avionics architectures, constraints relating to the use of electronics in space present great challenges, further exacerbated by the need for significantly faster processing compared to conventional space-grade central processing units. With the long-term goal of designing highperformance embedded computers for space, in this paper, an extended study and tradeoff analysis of a diverse set of computing platforms and architectures (i.e., central processing units, multicore digital signal processors, graphics processing units, and field-programmable gate arrays) are performed with radiation-hardened and commercial offthe-shelf technology. Overall, the study involves more than 30 devices and 10 benchmarks, which are selected after exploring the algorithms and specifications required for vision-based navigation. The present analysis combines literature survey and in-house development/testing to derive a sizable consistent picture of all possible solutions. Among others, the results show that certain 28 nm system-on-chip devices perform faster than space-grade and embedded central processing units by 1-3 orders of magnitude, while consuming less than 10 W. Field-programmable gate array platforms provide the highest performance per watt ratio.

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Section: A Monocular Approachesmentioning

confidence: 99%

High-Performance Embedded Computing in Space: Evaluation of Platforms for Vision-Based Navigation

Lentaris¹,

Maragos²,

Stratakos³

et al. 2018

Journal of Aerospace Information Systems

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“…As the FPA model was reconstructed only using optical images acquired by a monocular camera, the scale of the resulting model is ambiguous, i.e., estimated parameters can be multiplied with an arbitrary factor and still produce equal projections of the model on the images (Lourakis and Zabulis, 2013;Hartley and Zisserman, 2003). In order to obtain a proper scale of the model, images containing laser beams projected on the surface of the scene can be used through one of our proposed methods.…”

Section: Real Scenariomentioning

confidence: 99%

“…When performing the reconstruction, this results in scale ambiguity, i.e. the estimated parameters of 3D structure and camera trajectory can be multiplied with an arbitrary factor and still give rise to the same image observations (Lourakis and Zabulis, 2013;Hartley and Zisserman, 2003). This also precludes or at least limits the possibility to conduct quantitative measurements based on geometric parameters (e.g., distances, areas, angles, etc.)…”

Section: Introductionmentioning

confidence: 99%

Automatic scale estimation of structure from motion based 3D models using laser scalers in underwater scenarios

Istenič

Gracias

Arnaubec

et al. 2020

ISPRS Journal of Photogrammetry and Remote Sensing

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A B S T R A C TRecent advances in structure-from-motion techniques are enabling many scientific fields to benefit from the routine creation of detailed 3D models. However, for a large number of applications, only a single camera is available for the image acquisition, due to cost or space constraints in the survey platforms. Monocular structure-from-motion raises the issue of properly estimating the scale of the 3D models, in order to later use those models for metrology. The scale can be determined from the presence of visible objects of known dimensions, or from information on the magnitude of the camera motion provided by other sensors, such as GPS.This paper addresses the problem of accurately scaling 3D models created from monocular cameras in GPS-denied environments, such as in underwater applications. Motivated by the common availability of underwater laser scalers, we present two novel approaches which are suitable for different laser scaler configurations. A fully-calibrated method enables the use of arbitrary laser setups, while a partially-calibrated method reduces the need for calibration by only assuming parallelism on the laser beams, with no constraints on the camera. The proposed methods have several advantages with respect to the existing methods. By using the known geometry of the scene expressed by the 3D model, along with some parameters of the laser scaler geometry, the need for laser alignment with the optical axis of the camera is removed. Furthermore, the extremely error-prone manual identification of image points on the 3D model, currently required in image-scaling methods, is eliminated as well.The performance of the methods and their applicability was evaluated on both data generated from a realistic 3D model and data collected during an oceanographic cruise in 2017. Three separate laser configurations have been tested, encompassing nearly all possible laser setups, to evaluate the effects of terrain roughness, noise, camera perspective angle and camera-scene distance on the final estimates of scale. In the real scenario, the computation of 6 independent model scale estimates using our fullycalibrated approach, produced values with standard deviation of 0.3%. By comparing the values to the only possible method usable for this dataset, we showed that the consistency of scales obtained for individual lasers is much higher for our approach (0.6% compared to 4%).

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“…The standard practice for estimating the scale factor is to manually measure the distance between two points in the scene and use this reference measurement to scale the reconstruction accordingly. The automation of this process has been studied in several papers such as [123][124][125] by considering a known motion or an object with known dimensions. The use of additional sensor data such as laser readings, GPS, inertial measurement units, gyroscope and accelerometer, etc.…”

Section: Scale Factor Estimation In Monocular Reconstructionmentioning

confidence: 99%

Automated as-built 3D reconstruction of civil infrastructure using computer vision: Achievements, opportunities, and challenges

Fathi¹,

Dai

Lourakis

2015

Advanced Engineering Informatics

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166

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Accurate Scale Factor Estimation in 3D Reconstruction

Cited by 17 publications

References 18 publications

High-Performance Embedded Computing in Space: Evaluation of Platforms for Vision-Based Navigation

High-Performance Embedded Computing in Space: Evaluation of Platforms for Vision-Based Navigation

Automatic scale estimation of structure from motion based 3D models using laser scalers in underwater scenarios

Automated as-built 3D reconstruction of civil infrastructure using computer vision: Achievements, opportunities, and challenges

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