Robust and efficient camera motion synchronization via matrix decomposition

Abstract

In this paper we present a structure-from-motion pipeline based on the synchronization of relative motions derived from epipolar geometries. We combine a robust rotation synchronization technique with a fast translation synchronization method from the state of the art. Both reduce to computing matrix decompositions: low-rank & sparse and spectral decomposition. These two steps successfully solve the motion synchronization problem in a way that is both efficient and robust to outliers. The pipeline is global for it considers all the images at the same time. Experimental validation demonstrates that our pipeline compares favourably with some recently proposed methods.