Structure from Motion in the Context of Active Scanning

Structure from Motion in the Context of Active Scanning
Johannes Köhler, Tobias Nöll, Norbert Schmitz, Bernd Krolla, Didier Stricker
International Conference on Computer Vision Theory and Applications (VISAPP-15), 10th, March 11-14, Berlin, Germany

Abstract:

In this paper, we discuss global device calibration based on Structure from Motion (SfM) (Hartley and Zisserman, 2004) in the context of active scanning systems. Currently, such systems are usually pre-calibrated once and partial, unaligned scans are then registered using mostly variants of the Iterative Closest Point (ICP) algorithm (Besl and McKay, 1992). We demonstrate, that SfM-based registration from visual features yields a significantly higher precision. Moreover, we present a novel matching strategy that reduces the influence of an object’s visual features, which can be of low quality, and introduce novel hardware that allows to apply SfM to untextured objects without visual features.

Keywords:

Structured light, active scanning, bundle adjustment, structure from motion