Structure from Motion for Scenes with
Large Duplicate Structures

This is the index page – all supplementary material, comprising a more detailed algorithm derivation and additional results included for completeness, may be reached from this page.

Derivation of Consistent Majority Optimization

[ PDF ] In this document we provide a full derivation of the EM algorithm presented in Section 3 of the main paper.

Additional Results

In this section we demonstrate results on several data sets that we could not include in the paper due to space constraints, and provide high-resolution images and videos for those in the paper.  Additionally, for readers interested in a comparison with the open-source Bundler pipeline [citation] on these datasets, we include this for the sake of completeness.  In the main paper, we instead compare with a proprietary pipeline that generally performs as well as or better than bundler on these datasets.

Click on images to open high-resolution versions.  Also note that some datasets include animations.  These are encoded with DivX, but also play with the codecs built-in to VLC.

HOUSE

[ AVI ] Animation of reconstructions

Sample input images

Reconstruction of our method

Reconstruction of comparison pipeline

Reconstruction of Bundler

 

BLDG

Sample input images

Reconstruction of our method and of comparison pipeline (both were successful)

Reconstruction of Bundler

 

BOOKS

[ AVI ] Animation of reconstructions

Sample input images

Reconstruction of our method

Reconstruction of comparison pipeline

Reconstruction of Bundler

 

BOXES

[ AVI ] Animation of reconstructions

Sample input images

Reconstruction of our method

Reconstruction of comparison pipeline

Reconstruction of Bundler

 

CUP

[ AVI ] Animation of reconstructions

Sample input images

Reconstruction of our method

Reconstruction of comparison pipeline

Reconstruction of Bundler

 

DESK

[ AVI ] Animation of reconstructions

Sample input images

Reconstruction of our method

Reconstruction of comparison pipeline

Reconstruction of Bundler

 

OATS

[ AVI ] Animation of reconstructions

Sample input images

Reconstruction of our method

Reconstruction of comparison pipeline

Reconstruction of Bundler

 

References