Image-based modeling of urban environments is a key component of enabling outdoor, vision-based augmented reality applications. The images used for modeling may come from off-line efforts, or online user contributions. Panoramas have been used extensively in mapping cities and can be captured quickly by an end-user with a mobile phone. In this paper, we describe and evaluate a reconstruction pipeline for upright panoramas taken in an urban environment. We first describe how panoramas can be aligned to a common vertical orientation using vertical vanishing point detection, which we show to be robust for a range of inputs. The orientation sensors in modern cameras can also be used to correct the vertical orientation. Secondly, we introduce a pose estimation algorithm, which uses knowledge of a common vertical orientation as a simplifying constraint. This procedure is shown to reduce pose estimation error in comparison with the state of the art. Finally, we evaluate our reconstruction pipeline with several real-world examples. © 2012 Springer-Verlag London Limited.
CITATION STYLE
Ventura, J., & Höllerer, T. (2013). Structure and motion in urban environments using upright panoramas. Virtual Reality, 17(2), 147–156. https://doi.org/10.1007/s10055-012-0208-3
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