2015 年 81 巻 12 号 p. 1173-1179
In this paper, we propose 3D reconstruction by structure from motion (SfM) using spherical panoramic imagery and its application. The first part starts from describing a brief overview of the proposed SfM and discussing advantages and disadvantages of using panoramic images for SfM. Since the major problem is induced by panoramic image distortion, the proposed SfM overcomes it by feature detection and description with the panoramic image rectification and by evaluating the angular errors in the geometric estimation. In the second part, as an application of 3D reconstruction by the proposed SfM, we propose a system for estimating positions and directions of input query images. To achieve this, we build the geo-located image database by using the camera positions and directions estimated by the proposed SfM. Using this image database, we perform fast query image localization based on tiled BoVW matching. We evaluate the proposed SfM on real image sequences and also evaluate the system of query position and direction estimation.
