Efficient Structure from Motion by Graph Optimization

Michal Havlena, Akihiko Torii, and Tomas Pajdla



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'Castle image set'

Two largest partial 3D models reconstructed from image set Castle after 6 hours of computation (see Figure 6) together with sample input images:

images_castle_6.gif model_castle_6.gif
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Right part of the St.Vitus Cathedral and other buildings in the square.

images_castle_18.gif model_castle_18.gif
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Entrance to the Prague Castle.



'Vienna image set'

Two largest partial 3D models reconstructed from image set Vienna after 6 hours of computation (see Figure 7) together with sample input images:

images_vienna_74.gif model_vienna_74.gif
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Rear part of the St.Stephan Cathedral.

images_vienna_69.gif model_vienna_69.gif
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Josephsplatz.


History of growing and merging of the largest partial 3D model after 12 hours of computation:

images_vienna_136.gif model_vienna_136.gif
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Front part of the St.Stephan Cathedral.

hrs Twelve atomic 3D models were grown and merged into the final partial 3D model in 12 hours (click to enlarge):
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v_11_043.png v_11_064.png
v_10_043.png v_10_187.png v_10_064.png
v_09_043.png v_09_078.png v_09_174.png v_09_064.png
v_08_043.png v_08_121.png v_08_078.png v_08_161.png v_08_064.png
v_07_043.png v_07_087.png v_07_110.png v_07_038.png v_07_078.png v_07_146.png v_07_064.png
v_06_043.png v_06_087.png v_06_038.png v_06_078.png v_06_135.png v_06_075.png v_06_064.png
v_05_037.png v_05_043.png v_05_007.png v_05_038.png v_05_078.png v_05_122.png v_05_075.png v_05_064.png
v_04_037.png v_04_043.png v_04_007.png v_04_020.png v_04_038.png v_04_097.png
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