Improving the efficiency of hierarchical structure-and-motion

Riccardo Gherardi, Michela Farenzena, Andrea Fusiello

Abstract: We present a completely automated Structure and Motion pipeline capable of working with uncalibrated images with varying internal parameters and no ancillary information. The system is based on a novel hierarchical scheme which reduces the total complexity by one order of magnitude. We assess the quality of our approach analytically by comparing the recovered point clouds with laser scans, which serves as ground truth data.