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Erschienen in:
2010 | OriginalPaper | Buchkapitel
Planar Scene Modeling from Quasiconvex Subproblems
verfasst von : Visesh Chari, Anil Nelakanti, Chetan Jakkoju, C. V. Jawahar
Erschienen in: Computer Vision – ACCV 2009
Verlag: Springer Berlin Heidelberg
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In this paper, we propose a convex optimization based approach for piecewise planar reconstruction. We show that the task of reconstructing a piecewise planar environment can be set in an
L
∞
based Homographic framework that iteratively computes scene plane and camera pose parameters. Instead of image points, the algorithm optimizes over inter-image homographies. The resultant objective functions are minimized using Second Order Cone Programming algorithms. Apart from showing the convergence of the algorithm, we also empirically verify its robustness to error in initialization through various experiments on synthetic and real data. We intend this algorithm to be in between initialization approaches like decomposition methods and iterative non-linear minimization methods like Bundle Adjustment.