Structure from Motion : Whos afraid of a couple typos

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Structure from Motion Whos afraid of a couple
typos?

• Work based on that of Hartley
• by Josh Wills

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Pictures
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Algorithm Summary

• Compute a set of correspondences
• Find the inliers via RANSAC
• Get linear estimates of F, P, P, and X
• Use Levenberg-Marquardt to get a better
  estimation of F (and therefore P and P)
• Re-estimate x and x using a nonlinear method
• Re-estimate X
• Solve for true X using ground truth

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Initial reprojected points
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Initial Structure
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Final reprojected points
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Corrected Structure
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Structure with Cameras