Structure from Motion and 3D Reconstruction

Structure from motion is a fundamental technical that forms one of the corner stones of the vision-based 3D reconstruction, localisation and navigation systems.  The robustness and efficiency of the structure from motion algorithm is crucial for the reliably and performance of such systems. Most state-of-the-art algorithms rely on repetitively apply expensive bundle adjustment to incrementally align the camera motion and scene structure. Systems based on such algorithms often fall short of the efficiency and low power requirement of many localisation and navigation applications.

In our current project, we study the fundamental stability of different parameters in structure from motion, and explore different ways to reformulate the problem, such that the computational resources will be allocated adaptively according to the difficulty of reliably estimating these parameters. With these exploration, we hope to gain a deeper understanding of the bottle neck of modern structure from motion algorithms in different application scenarios.