Stable Structure from Motion for Unordered Image Collections

Carl Olsson, Olof Enqvist

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingResearchpeer-review

59 Citations (SciVal)


We present a non-incremental approach to structure from motion. Our solution is based on robustly computing global rotations from relative geometries and feeding these into the known-rotation framework to create an initial solution for bundle adjustment. To increase robustness we present a new method for constructing reliable point tracks from pairwise matches. We show that our method can be seen as maximizing the reliability of a point track if the quality of the weakest link in the track is used to evaluate reliability. To estimate the final geometry we alternate between bundle adjustment and a robust version of the known-rotation formulation. The ability to compute both structure and camera translations independent of initialization makes our algorithm insensitive to degenerate epipolar geometries. We demonstrate the performance of our system on a number of image collections.
Original languageEnglish
Title of host publicationLecture Notes in Computer Science (Image Analysis : 17th Scandinavian Conference, SCIA 2011, Ystad, Sweden, May 2011. Proceedings)
EditorsHeyden Anders, Kahl Fredrik
Number of pages12
ISBN (Print)978-3-642-21226-0 (print), 978-3-642-21227-7 (online)
Publication statusPublished - 2011
Event17th Scandinavian Conference on Image Analysis (SCIA 2011) - Ystad, Sweden
Duration: 2011 May 232011 May 27

Publication series

ISSN (Print)1611-3349
ISSN (Electronic)0302-9743


Conference17th Scandinavian Conference on Image Analysis (SCIA 2011)

Subject classification (UKÄ)

  • Computer Vision and Robotics (Autonomous Systems)
  • Mathematics


  • Structure from motion
  • computer vision


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