Determining an Initial Image Pair for Fixing the Scale of a 3D Reconstruction from an Image Sequence

  • Christian Beder
  • Richard Steffen
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4174)


Algorithms for metric 3d reconstruction of scenes from calibrated image sequences always require an initialization phase for fixing the scale of the reconstruction. Usually this is done by selecting two frames from the sequence and fixing the length of their base-line. In this paper a quality measure, that is based on the uncertainty of the reconstructed scene points, for the selection of such a stable image pair is proposed. Based on this quality measure a fully automatic initialization phase for simultaneous localization and mapping algorithms is derived. The proposed algorithm runs in real-time and some results for synthetic as well as real image sequences are shown.


Covariance Matrice Image Pair Image Point Simultaneous Localization Epipolar Geometry 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Christian Beder
    • 1
  • Richard Steffen
    • 1
  1. 1.Institute for PhotogrammetryBonn UniversityGermany

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