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Equivalent constraints for two-view geometry : Pose solution/pure rotation identification and 3D reconstruction / Qi Cai in International journal of computer vision, vol 127 n° 2 (February 2019)  

Public [article]  inInternational journal of computer vision > vol 127 n° 2 (February 2019) . - pp 163 - 180 Titre : Equivalent constraints for two-view geometry : Pose solution/pure rotation identification and 3D reconstruction Type de document : Article/Communication Auteurs : Qi Cai, Auteur ; Yuanxin Wu, Auteur ; Lilian Zhang, Auteur ; Peike Zhang, Auteur Année de publication : 2019 Article en page(s) : pp 163 - 180 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image [Termes IGN] coplanarité [Termes IGN] estimation de pose [Termes IGN] programmation par contraintes [Termes IGN] reconstruction 3D Résumé : (Auteur) Two-view relative pose estimation and structure reconstruction is a classical problem in computer vision. The typical methods usually employ the singular value decomposition of the essential matrix to get multiple solutions of the relative pose, from which the right solution is picked out by reconstructing the three-dimension (3D) feature points and imposing the constraint of positive depth. This paper revisits the two-view geometry problem and discovers that the two-view imaging geometry is equivalently governed by a Pair of new Pose-Only (PPO) constraints: the same-side constraint and the intersection constraint. From the perspective of solving equation, the complete pose solutions of the essential matrix are explicitly derived and we rigorously prove that the orientation part of the pose can still be recovered in the case of pure rotation. The PPO constraints are simplified and formulated in the form of inequalities to directly identify the right pose solution with no need of 3D reconstruction and the 3D reconstruction can be analytically achieved from the identified right pose. Furthermore, the intersection inequality also enables a robust criterion for pure rotation identification. Experiment results validate the correctness of analyses and the robustness of the derived pose solution/pure rotation identification and analytical 3D reconstruction. Numéro de notice : A2018-599 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s11263-018-1136-9 Date de publication en ligne : 30/11/2018 En ligne : https://doi.org/10.1007/s11263-018-1136-9 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=92526 [article]

Three-point-based solution for automated motion parameter estimation of a multi-camera indoor mapping system with planar motion constraint / Fangning He in ISPRS Journal of photogrammetry and remote sensing, vol 142 (August 2018)  

Public [article]  inISPRS Journal of photogrammetry and remote sensing > vol 142 (August 2018) . - pp 278 - 291 Titre : Three-point-based solution for automated motion parameter estimation of a multi-camera indoor mapping system with planar motion constraint Type de document : Article/Communication Auteurs : Fangning He, Auteur ; Ayman Habib, Auteur Année de publication : 2018 Article en page(s) : pp 278 - 291 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image [Termes IGN] appariement d'images [Termes IGN] carte d'intérieur [Termes IGN] compensation par faisceaux [Termes IGN] coplanarité [Termes IGN] élément d'orientation interne [Termes IGN] modélisation 3D [Termes IGN] orientation relative [Termes IGN] Ransac (algorithme) [Termes IGN] reconstruction 3D [Termes IGN] structure-from-motion [Termes IGN] valeur aberrante Résumé : (auteur) Accurate indoor 3D models have become a key prerequisite for various applications. Through state-of-the-art image processing techniques, 3D models can be generated from high quality images captured by off-the-shelf digital cameras. To acquire redundant data and produce real scale models, a multi-camera system can be used. However, dedicated approaches for image-based 3D reconstruction using mapping platforms equipped with multiple cameras have not been fully addressed. Assuming the availability of prior information regarding the platform trajectory, this paper presents a new approach for reliable estimation of system motion parameters between different data acquisition epochs of a multi-camera system. This approach, which assumes planar motion of the utilized platform, provides a three-point closed-form solution. The derived solutions are then incorporated within a modified RANSAC framework for outlier detection/removal. It is worth noting that, different from the existing General Camera Model (GCM)-based solutions, the proposed approach is based on a modified co-planarity model, which is essentially a direct extension of the classic stereo-based relative orientation. Moreover, since the proposed approach only provides a maximum number of four possible solutions for system motion parameters over different epochs, it has better computational efficiency when compared to other existing algorithms. Experimental results from real datasets acquired with different configurations have demonstrated the reliability of the proposed approach in motion parameter estimation for indoor multi-camera mapping systems. Numéro de notice : A2018-297 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.isprsjprs.2018.06.011 Date de publication en ligne : 01/08/2018 En ligne : https://doi.org/10.1016/j.isprsjprs.2018.06.011 Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=90417 [article]

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Weighted simplicial complex reconstruction from mobile laser scanning using sensor topology / Stéphane Guinard in Revue Française de Photogrammétrie et de Télédétection, n° 217-218 (juin - septembre 2018)  

Public [article]  inRevue Française de Photogrammétrie et de Télédétection > n° 217-218 (juin - septembre 2018) . - pp 63 - 71 Titre : Weighted simplicial complex reconstruction from mobile laser scanning using sensor topology Type de document : Article/Communication Auteurs : Stéphane Guinard , Auteur ; Bruno Vallet , Auteur Année de publication : 2018 Projets : 1-Pas de projet / Article en page(s) : pp 63 - 71 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie [Termes IGN] complexe simplicial [Termes IGN] coplanarité [Termes IGN] données lidar [Termes IGN] données localisées 3D [Termes IGN] modèle géométrique [Termes IGN] pondération [Termes IGN] reconstruction 3D [Termes IGN] relation topologique [Termes IGN] relation topologique 3D [Termes IGN] semis de points Résumé : (auteur) Nous présentons une nouvelle méthode pour la reconstruction de complexes simpliciaux (ensembles de points, segments et triangles) à partir de nuages de points 3D obtenus par LiDAR mobile, à balayage plan. Notre méthode utilise la topologie inhérente au capteur LiDAR pour définir une relation spatiale entre les points. Pour cela, nous examinons chaque connexion possible entre points, pondérée en fonction de sa distance au capteur, et les filtrons en privilégiant les structures collinéaires, ou perpendiculaires aux impulsions du laser. Ensuite, nous créons et filtrons des triangles pour chaque triplet de segments connectés entre eux, en fonction de leur coplanarité locale. Nous comparons nos résultats à une reconstruction non pondérée d'un complexe simplicial. Numéro de notice : A2018-497 Affiliation des auteurs : LASTIG MATIS (2012-2019) Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueNat DOI : 10.52638/rfpt.2018.412 En ligne : https://doi.org/10.52638/rfpt.2018.412 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=91263 [article]

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Weighted simplicial complex reconstruction from mobile laser scanning using sensor topology / Stéphane Guinard (2018)    

Public Titre : Weighted simplicial complex reconstruction from mobile laser scanning using sensor topology Type de document : Article/Communication Auteurs : Stéphane Guinard , Auteur ; Bruno Vallet , Auteur Editeur : Saint-Mandé : Institut national de l'information géographique et forestière - IGN Année de publication : 2018 Conférence : CFPT 2018, Conférence Française de Photogrammétrie et de Télédétection 25/06/2018 28/06/2018 Champs-sur-Marne France Open Access Proceedings Importance : 8 p. Note générale : bibliographie The authors would like to acknowledge the DGA for their financial support of this work. Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie [Termes IGN] complexe simplicial [Termes IGN] coplanarité [Termes IGN] données lidar [Termes IGN] données localisées 3D [Termes IGN] instrument embarqué [Termes IGN] reconstruction 3D [Termes IGN] relation spatiale [Termes IGN] semis de points [Termes IGN] voisinage (topologie) Résumé : (auteur) We propose a new method for the reconstruction of simplicial complexes (combining points, edges and triangles) from 3D point clouds from Mobile Laser Scanning (MLS). Our method uses the inherent topology of the MLS sensor to define a spatial adjacency relationship between points. We then investigate each possible connexion between adjacent points, weighted according to its distance to the sensor, and filter them by searching collinear structures in the scene, or structures perpendicular to the laser beams. Next, we create and filter triangles for each triplet of self-connected edges and according to their local planarity. We compare our results to an unweighted simplicial complex reconstruction. Numéro de notice : C2018-017 Affiliation des auteurs : LASTIG MATIS (2012-2019) Thématique : IMAGERIE Nature : Communication nature-HAL : ComAvecCL&ActesPubliésNat DOI : sans Date de publication en ligne : 25/06/2018 En ligne : https://rfiap2018.ign.fr/sites/default/files/ARTICLES/CFPT2018/Oraux/CFPT2018_pa [...] Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=90388

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Trajectory-based place-recognition for efficient large scale localization / Simon Lynen in International journal of computer vision, vol 124 n° 1 (August 2017)  

Public [article]  inInternational journal of computer vision > vol 124 n° 1 (August 2017) . - pp 49 – 64 Titre : Trajectory-based place-recognition for efficient large scale localization Type de document : Article/Communication Auteurs : Simon Lynen, Auteur ; Michael Bosse, Auteur ; Roland Siegwart, Auteur Année de publication : 2017 Article en page(s) : pp 49 – 64 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique [Termes IGN] alignement multiple semi-dirigé [Termes IGN] analyse comparative [Termes IGN] appariement automatique [Termes IGN] lieu géométrique [Termes IGN] précision de localisation [Termes IGN] reconnaissance automatique Résumé : (auteur) Place recognition is a core competency for any visual simultaneous localization and mapping system. Identifying previously visited places enables the creation of globally accurate maps, robust relocalization, and multi-user mapping. To match one place to another, most state-of-the-art approaches must decide a priori what constitutes a place, often in terms of how many consecutive views should overlap, or how many consecutive images should be considered together. Unfortunately, such threshold dependencies limit their generality to different types of scenes. In this paper, we present a placeless place recognition algorithm using a novel match-density estimation technique that avoids heuristically discretizing the space. Instead, our approach considers place recognition as a problem of continuous matching between image streams, automatically discovering regions of high match density that represent overlapping trajectory segments. The algorithm uses well-studied statistical tests to identify the relevant matching regions which are subsequently passed to an absolute pose algorithm to recover the geometric alignment. We demonstrate the efficiency and accuracy of our methodology on three outdoor sequences, including a comprehensive evaluation against ground-truth from publicly available datasets that shows our approach outperforms several state-of-the-art algorithms for place recognition. Furthermore we compare our overall algorithm to the currently best performing system for global localization and show how we outperform the approach on challenging indoor and outdoor datasets. Numéro de notice : A2017-399 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article DOI : 10.1007%2Fs11263-016-0947-9 En ligne : https://doi.org/10.1007/s11263-016-0947-9 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=85941 [article]

Refining geometry from depth sensors using IR shading images / Gyeongmin Choe in International journal of computer vision, vol 122 n° 1 (March 2017)  

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Geometric calibration of Ziyuan-3 three-line cameras using ground control lines / Jinshan Cao in Photogrammetric Engineering & Remote Sensing, PERS, vol 82 n° 11 (November 2016)  

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Relative orientation dependent on dual quaternions / Qing H. Sheng in Photogrammetric record, vol 30 n° 151 (September - November 2015)  

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Photogrammetric modeling of the relative orientation in underwater environments / Gili Telem in ISPRS Journal of photogrammetry and remote sensing, vol 86 (December 2013)

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Exterior orientation of CBERS-2B imagery using multi-feature control and orbital data / José Marcato in ISPRS Journal of photogrammetry and remote sensing, vol 79 (May 2013)

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Au lieu de l'espace / Françoise de Blomac in SIG la lettre, n° 146 (avril 2013)

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A semi-automatic method for indirect orientation of aerial images using ground control lines extracted from airborne laser scanner data / D. Rodrigues Dos Santos in Revue Française de Photogrammétrie et de Télédétection, n° 198 - 199 (Septembre 2012)

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Incremental segmentation of lidar point clouds with an octree-structured voxel space / M. Wang in Photogrammetric record, vol 26 n° 133 (March - May 2011)  

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A new solution to the relative orientation problem using only 3 points and the vertical direction / Mahzad Kalantari in Journal of Mathematical Imaging and Vision, vol 39 n° 3 (March 2011)  

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Orientation relative à partir de 3 points homologues et de la direction verticale : Une approche directe / Mahzad Kalantari in Traitement du signal, vol 27 n° 3 (2010-3)  

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