3D Geometry from Uncalibrated Images

George I. Kamberov, Gerda Kamberova, Ondrej Chum, Stepán Obdrzálek, Daniel Martinec, Jana Kostková, Tomás Pajdla, Jiri Matas, Radim Sára

Abstract: We present an automatic pipeline for recovering the geometry of a 3D scene from a set of unordered, uncalibrated images. The contributions in the paper are the presentation of the system as a whole, from images to geometry, the estimation of the local scale for various scene components in the orientation-topology module, the procedure for orienting the cloud components, and the method for dealing with points of contact. The methods are aimed to process complex scenes and non-uniformly sampled, noisy data sets.