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... sets are similar to stereo SLAM in that sparse features are extracted from images to solve the correspondence problem. Projective geometry is used to define the spatial relationship between features =-=[21, 5, 29]-=-, a much harder problem to solve than correspondence in ICP. For the loop closure problem, most recent approaches to 3D mapping rely on fast image matching techniques [29, 5, 16, 20]. Once a loop clos...

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...ethod that relies on the five-point algorithm [7] combined with bundleadjustment over the last few frames has been shown to yeld good results if one is willing to tolerate a short delay in processing =-=[8]-=-. However, most of the methods of this nature derive the camera position by concatenating transformations between adjacent frames. Over short sequences, the tracking may be accurate and jitter-free bu...

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...into account the 3D point triangulation certainty (i.e. the shape of the covariance matrices) [18]. Once an initial pair of images is found, their relative pose is determined by the five-point method =-=[19]-=-. The remaining views of the current component are added using perspective pose estimation from 2D-3D correspondences. The order of insertion is determined from the edges of the underlying maximum spa...

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...rmance for two hand-held video sequences (V1,V2) with respect to different 3D document strategies. Our evaluation includes also a comparison to a pure image based method, with the Five-Point algorithm=-=[14]-=- used for pose verification (relevant parameters are adjusted to get comparable timings to the 3-point method). Note, V1 was taken at nearby positions as the views from model reconstruction, therefore...

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...n reported elsewhere (Zhang et al., 1988; Lacroix et al., 1999; Nistér et al., 2004). Recently, Nistér et al. have reported a successful real-time Visual Odometry implementation (Nistér et al., 2006; =-=Nistér, 2004-=-). This implementation contains two motion estimation schemes: the stereo scheme, which is an iterative pose refinement scheme, and the monocular scheme, which was based on the framework of 5-point al...

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...zation [12], [19] and SLAM navigation [6]. Given two image views of the same scene, five point of correspondences are selected for use in an implementation of the “five point algorithm ” described in =-=[18]-=- which, notably, is capable of dealing with coplanar correspondence points. Given two views of the same scene, five or more point of correspondences (this whole procedure should run inside a RANSAC ro...

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...tion by assuming a popular viewing angle for the camera model. The latter estimate typically approximates the true focal length within the error bounds of successfully executing the five-point method =-=[31]-=-. To limit drift after inserting i new iconics, the 3D sub-model and camera parameters are optimized by a sparse bundle adjustment [32]. The particular choice of i is not critical and in all our exper...