Authors:
Johannes Köhler
1
;
Tobias Nöll
2
;
Norbert Schmitz
2
;
Bernd Krolla
2
and
Didier Stricker
2
Affiliations:
1
German Research Centre for Artificial Intelligence, Germany
;
2
German Research Center for Artificial Intelligence, Germany
Keyword(s):
Structured Light, Active Scanning, Bundle Adjustment, Structure from Motion.
Related
Ontology
Subjects/Areas/Topics:
Active and Robot Vision
;
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Geometry and Modeling
;
Image-Based Modeling
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Software Engineering
;
Stereo Vision and Structure from Motion
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.