
Improving incremental Structure-from-Motion
Contributions of this paper marked with 🔴

An architecture of incremental Structure-from-Motion
Correspondence Search
- input : set of images
- output : set of geometrically verified image pairs and a graph of image projections for each point
1. Feature Extraction
- SIFT detects sets of local features at locations for each image
2. Matching
- SfM discovers images that see the same scene part by leveraging the features $F_i$ as an appearance description of the images
3. Geometric Verification
- SfM verifies the matches by trying to estimate a transformation that maps feature points between images using projective geometry.
🔴 Scene Graph Augmentation
- Augmenting the scene graph with the appropriate geometric relation
- An already augmented scene graph enables to efficiently find the optimal initialization for a robust reconstruction process
Incremental Reconstruction
1. Initialization
- SfM initializes the model with a carefully selected two-view reconstruction