Constrained Bundle Adjustment for Structure From Motion Using Uncalibrated Multi-Camera Systems
This addresses the challenge of accurate 3D reconstruction for applications like autonomous vehicles or robotics using uncalibrated cameras, but it is incremental as it builds on existing bundle adjustment techniques.
The paper tackled the problem of structure from motion with uncalibrated multi-camera systems by proposing a bundle adjustment solution with a baseline constraint to keep cameras static relative to each other, resulting in a 29.38% improvement over traditional methods in 3D point cloud accuracy compared to LiDAR data.
Structure from motion using uncalibrated multi-camera systems is a challenging task. This paper proposes a bundle adjustment solution that implements a baseline constraint respecting that these cameras are static to each other. We assume these cameras are mounted on a mobile platform, uncalibrated, and coarsely synchronized. To this end, we propose the baseline constraint that is formulated for the scenario in which the cameras have overlapping views. The constraint is incorporated in the bundle adjustment solution to keep the relative motion of different cameras static. Experiments were conducted using video frames of two collocated GoPro cameras mounted on a vehicle with no system calibration. These two cameras were placed capturing overlapping contents. We performed our bundle adjustment using the proposed constraint and then produced 3D dense point clouds. Evaluations were performed by comparing these dense point clouds against LiDAR reference data. We showed that, as compared to traditional bundle adjustment, our proposed method achieved an improvement of 29.38%.