SAMANTHA:
Structure-and-Motion Pipeline on a Hierarchical Cluster Tree

M. Farenzena, A. Fusiello and R. Gherardi Department of Computer Science
University of Verona, Verona - Italy

Overview

This work introduces a novel hierarchical scheme for computing Structure and Motion. The images are organized into a tree with agglomerative clustering, using a measure of overlap as the distance. The reconstruction then follows this tree from the leaves to the root. As a result, the problems is broken into smaller instances, which are then separately solved and combined. Compared to the standard sequential approach, this pipeline boost computational efficiency by one order of magnitude, it is independent from the initial pair of views, and copes better with drift problems.

Method



Experiments

Images Reconstruction Video
Pozzoveggiani

54 JPG images / 4.5 Mb file



Piazza Dante

39 JPG images / 5.2 Mb file



Piazza Erbe

259 JPG images / 23.3 Mb file



Piazza Bra

380 PNG images / 784.4 Mb file






Reference Paper